From 8d90df4f232f0f5b654446dc405652b7c855a470 Mon Sep 17 00:00:00 2001
From: "LI, Jinjie" <li-jinjie@g.ecc.u-tokyo.ac.jp>
Date: Thu, 1 Feb 2024 12:58:41 +0900
Subject: [PATCH] [aerial_robot_base] modify ~ to ! to express negative; add
 comment for tolerance selection

---
 aerial_robot_base/src/aerial_robot_base.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/aerial_robot_base/src/aerial_robot_base.cpp b/aerial_robot_base/src/aerial_robot_base.cpp
index abf097870..1fc369459 100644
--- a/aerial_robot_base/src/aerial_robot_base.cpp
+++ b/aerial_robot_base/src/aerial_robot_base.cpp
@@ -84,10 +84,10 @@ AerialRobotBase::~AerialRobotBase()
 
 void AerialRobotBase::mainFunc(const ros::TimerEvent & e)
 {
-  if (~e.last_real.isZero())
+  if (!e.last_real.isZero())
   {
       double dt_real = e.current_real.toSec() - e.last_real.toSec();
-      double tolerance = 0.05;
+      double tolerance = 0.05;  // 5% tolerance. This value is set based on experience.
       double dt_desire = (1.0 + tolerance) * 1.0 / main_rate_;
       if (dt_real > dt_desire)
       {