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[uxrce_dds_client] wait for Timesync to converge

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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2023-11-27 21:10:26 -05:00
committed by Daniel Agar
parent f01400de81
commit 2363c03bfe
2 changed files with 10 additions and 9 deletions
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src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+3 -2
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@@ -441,7 +441,7 @@ void UxrceddsClient::run()
// Spin until sync with the Agent
while (_synchronize_timestamps) {
if (uxr_sync_session(&session, 1000)) {
if (uxr_sync_session(&session, 1000) && _timesync.sync_converged()) {
PX4_INFO("synchronized with time offset %-5" PRId64 "us", session.time_offset / 1000);
if (_param_uxrce_dds_syncc.get() > 0) {
@@ -505,7 +505,7 @@ void UxrceddsClient::run()
// time sync session
if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) {
if (uxr_sync_session(&session, 100)) {
if (uxr_sync_session(&session, 100) && _timesync.sync_converged()) {
//PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset);
last_sync_session = hrt_absolute_time();
@@ -563,6 +563,7 @@ void UxrceddsClient::run()
_last_payload_tx_rate = 0;
_last_payload_tx_rate = 0;
_subs->reset();
_timesync.reset_filter();
}
}