fix(hesai): set PTP lock offset only for OT128, QT128

Signed-off-by: Max SCHMELLER <[email protected]>
tier4 · Nov 29, 2024 · d3c6bf4 · d3c6bf4
1 parent 2561bdf
commit d3c6bf4
Showing 1 changed file with 11 additions and 7 deletions.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -1075,13 +1075,17 @@ HesaiStatus HesaiHwInterface::CheckAndSetConfig(
     t.join();
     logger_->debug("Thread finished");
 
-    uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
-    if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
-      NEBULA_LOG_STREAM(
-        logger_->info, "changing sensor PTP lock offset from "
-                         << static_cast<int>(sensor_ptp_lock_threshold) << " to "
-                         << static_cast<int>(sensor_configuration_->ptp_lock_threshold));
-      set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
+    if (
+      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDAR128_E4X ||
+      sensor_configuration_->sensor_model == SensorModel::HESAI_PANDARQT128) {
+      uint8_t sensor_ptp_lock_threshold = get_ptp_lock_offset();
+      if (sensor_ptp_lock_threshold != sensor_configuration_->ptp_lock_threshold) {
+        NEBULA_LOG_STREAM(
+          logger_->info, "changing sensor PTP lock offset from "
+                           << static_cast<int>(sensor_ptp_lock_threshold) << " to "
+                           << static_cast<int>(sensor_configuration_->ptp_lock_threshold));
+        set_ptp_lock_offset(sensor_configuration_->ptp_lock_threshold);
+      }
     }
 
     std::this_thread::sleep_for(wait_time);