Currently, the clock-sync start is not robust, so that packets at the beginning of a transmission are quickly discarded. Especially when the inter-packet time is high, it is not capable of reducing the phase error to a small value. With the current implementation, the residual phase error is proportional to the inter-packet time.

Finally, all timestamps should be taken from the PRRT and not the system clock.

Synchronization Test

• On receiver, print current time and prrt time.
• Check debug output.

Integration Test Setup

• Purposefully de-synchronize two systems (e.g. RNAs)
• Verify that without a code change, no packets are received
• Add code changes (replacing get_current_time() with get_prrt_time()) and check if this leads to packets being received.