From 2ae95f04c0d180b2d43749a6a992ddeae2a37e36 Mon Sep 17 00:00:00 2001
From: kotaro-hihara <kotaro.hihara@tier4.jp>
Date: Tue, 26 Nov 2024 16:00:58 +0900
Subject: [PATCH] chore hesai ptp diag condition

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

diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
index 3de10d93..acfc625f 100644
--- a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
+++ b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -269,8 +269,8 @@ void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWr
     if (ptp_status != "UNKNOWN") {
       msg.emplace_back("ptp_status: " + ptp_status);
     }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    if (ptp_status == "FREE RUN" || ptp_status == "FROZEN") {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {