From 9cb3662db612739cf1089eb8ab7f490de440a1ed Mon Sep 17 00:00:00 2001
From: mhefny <mohammad.hefny@gmail.com>
Date: Wed, 27 Nov 2019 06:55:18 +0200
Subject: [PATCH] SITL:Webots-better time sync

---
 libraries/SITL/SIM_Webots.cpp | 9 +--------
 libraries/SITL/SIM_Webots.h   | 1 -
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/libraries/SITL/SIM_Webots.cpp b/libraries/SITL/SIM_Webots.cpp
index 8c264f6b2f..c47aed9514 100644
--- a/libraries/SITL/SIM_Webots.cpp
+++ b/libraries/SITL/SIM_Webots.cpp
@@ -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;
diff --git a/libraries/SITL/SIM_Webots.h b/libraries/SITL/SIM_Webots.h
index dd9651d0ba..5345b5efdc 100644
--- a/libraries/SITL/SIM_Webots.h
+++ b/libraries/SITL/SIM_Webots.h
@@ -71,7 +71,6 @@ private:
 
     SocketAPM *sim_sock;
 
-    uint32_t no_data_counter;
     uint32_t connect_counter;
 
     double initial_time_s;