From 08e72b29b3a2386b5d8e703e005c2662debafc58 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Mon, 20 Jul 2020 15:14:14 +0100 Subject: [PATCH] microRTPS: micrortps_timesync: reduce max RTTI to 50ms --- msg/templates/urtps/microRTPS_timesync.cpp.em | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/templates/urtps/microRTPS_timesync.cpp.em b/msg/templates/urtps/microRTPS_timesync.cpp.em index cc4c99b2c2..5588b181e1 100644 --- a/msg/templates/urtps/microRTPS_timesync.cpp.em +++ b/msg/templates/urtps/microRTPS_timesync.cpp.em @@ -134,8 +134,8 @@ bool TimeSync::addMeasurement(int64_t local_t1_ns, int64_t remote_t2_ns, int64_t } } - // ignore if rtti > 100ms - if (rtti > 100ll * 1000ll * 1000ll) { + // ignore if rtti > 50ms + if (rtti > 50ll * 1000ll * 1000ll) { std::cout << "\033[1;33m[ micrortps__timesync ]\tRTTI too high for timesync: " << rtti / (1000ll * 1000ll) << "ms\033[0m" << std::endl; return false; }