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SITL:Webots-better time sync

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mhefny 2019-11-27 06:55:18 +02:00 committed by Andrew Tridgell
parent 147a940451
commit 9cb3662db6
2 changed files with 1 additions and 9 deletions
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9
libraries/SITL/SIM_Webots.cpp
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@ -318,15 +318,8 @@ bool Webots::sensors_receive(void)
{
ssize_t ret = sim_sock->recv(&sensor_buffer[sensor_buffer_len], sizeof(sensor_buffer)-sensor_buffer_len, 0);
if (ret <= 0) {
no_data_counter++;
if (no_data_counter == 1000) {
no_data_counter = 0;
delete sim_sock;
sim_sock = nullptr;
}
return false;
}
no_data_counter = 0;
// convert '\n' into nul
while (uint8_t *p = (uint8_t *)memchr(&sensor_buffer[sensor_buffer_len], '\n', ret)) {
@ -496,7 +489,7 @@ void Webots::update(const struct sitl_input &input)
// again measure dt as dt_s but with no constraints....
double dt_s = state.timestamp - last_state.timestamp;
last_state = state;
if (dt_s < 0 || dt_s > 1) {
// cope with restarting while connected
initial_time_s = time_now_us * 1.0e-6f;

1
libraries/SITL/SIM_Webots.h
View File

@ -71,7 +71,6 @@ private:
SocketAPM *sim_sock;
uint32_t no_data_counter;
uint32_t connect_counter;
double initial_time_s;