From 52505864dab504290065d00c5a4aabfe3230b633 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 3 Jul 2015 09:25:05 +0300
Subject: [PATCH] DSDL update

---
 dsdl                                                         | 2 +-
 libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/dsdl b/dsdl
index 78b3a2f23c..ffaeb85095 160000
--- a/dsdl
+++ b/dsdl
@@ -1 +1 @@
-Subproject commit 78b3a2f23c075f1260471891443460bd5e74c0a3
+Subproject commit ffaeb850954eafcbd82416ff0bc2fa9bd3ad08f5
diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
index 0490fe0e84..98351e5e0e 100644
--- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
@@ -82,7 +82,8 @@ class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable
 
         const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero();
         const bool switch_master = msg.getSrcNodeID() < master_nid_;
-        const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS;
+        // TODO: Make configurable
+        const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS;
 
         if (switch_master || pub_timeout || needs_init)
         {