Keep the t variable monotonic in the simulation

Otherwise it causes stopping sending MAVLink and other bugs
okalachev · Oct 23, 2024 · 74bcfdd · 74bcfdd
1 parent eeb86b8
commit 74bcfdd
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diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
@@ -134,7 +134,8 @@ void delay(uint32_t ms) {
 }
 
 unsigned long __micros;
+unsigned long __resetTime = 0;
 
 unsigned long micros() {
-	return __micros;
+	return __micros + __resetTime; // keep the time monotonic
 }
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
@@ -56,6 +56,7 @@ class ModelFlix : public ModelPlugin {
 
 	void OnReset() {
 		attitude = Quaternion(); // reset estimated attitude
+		__resetTime += __micros;
 		gzmsg << "Flix plugin reset" << endl;
 	}