altos: Try to get remote cmac time closer to reality

[fw/altos] / src / drivers / ao_lco_func.c

diff --git a/src/drivers/ao_lco_func.c b/src/drivers/ao_lco_func.c
index 152b5d1ba5b1d06e6c9b509a7b012597f88df036..99e58b76f872bc014e992ae622242cce1bc80701 100644 (file)
--- a/src/drivers/ao_lco_func.c
+++ b/src/drivers/ao_lco_func.c
@@ -28,18 +28,18 @@ ao_lco_query(uint16_t box, struct ao_pad_query *query, uint16_t *tick_offset)
 {
        uint8_t         i;
        int8_t          r;
-       uint16_t        time;
+       uint16_t        sent_time;
 
        ao_mutex_get(&ao_lco_mutex);
-       time = ao_time();
-       command.tick = time;
+       command.tick = ao_time() - *tick_offset;
        command.box = box;
        command.cmd = AO_LAUNCH_QUERY;
        command.channels = 0;
        ao_radio_cmac_send(&command, sizeof (command));
-       r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(500));
+       sent_time = ao_time();
+       r = ao_radio_cmac_recv(query, sizeof (*query), AO_MS_TO_TICKS(20));
        if (r == AO_RADIO_CMAC_OK)
-               *tick_offset = time - query->tick;
+               *tick_offset = sent_time - query->tick;
        ao_mutex_put(&ao_lco_mutex);
        return r;
 }