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Time sync update

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This commit is contained in:
Pavel Kirienko
2015-07-03 09:28:54 +03:00
parent 52505864da
commit 546fda2b39
2 changed files with 2 additions and 2 deletions
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libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+1 -1
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@@ -124,7 +124,7 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
int getNextTransferID(TransferID& tid)
{
const MonotonicDuration max_transfer_interval =
MonotonicDuration::fromMSec(protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS);
MonotonicDuration::fromMSec(protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS);
const OutgoingTransferRegistryKey otr_key(dtid_, TransferTypeMessageBroadcast, NodeID::Broadcast);
const MonotonicTime otr_deadline = node_.getMonotonicTime() + max_transfer_interval;
libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+1 -1
View File
@@ -179,7 +179,7 @@ public:
{
const MonotonicDuration since_prev_adj = getSystemClock().getMonotonic() - last_adjustment_ts_;
return !last_adjustment_ts_.isZero() &&
(since_prev_adj.toMSec() <= protocol::GlobalTimeSync::PUBLISHER_TIMEOUT_MS);
(since_prev_adj.toMSec() <= protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS);
}
/**