From 546fda2b3977308b7e3a4a2af4427fb0dab6ca92 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Fri, 3 Jul 2015 09:28:54 +0300 Subject: [PATCH] Time sync update --- libuavcan/include/uavcan/protocol/global_time_sync_master.hpp | 2 +- libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp index 9a64ba6016..164bb25369 100644 --- a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp +++ b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp @@ -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; diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp index 98351e5e0e..c2f5dbfabd 100644 --- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp +++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp @@ -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); } /**