From bb670432a66d7d40967e525c56373ef5a99e4d07 Mon Sep 17 00:00:00 2001
From: lazyze <52817840+lazyze@users.noreply.github.com>
Date: Fri, 27 Jun 2025 14:07:37 +0800
Subject: [PATCH] fix: timer error accumulation not being reduced after
 compensation

---
 cyber/timer/timer.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cyber/timer/timer.cc b/cyber/timer/timer.cc
index 12ace5a1641..122063cb009 100644
--- a/cyber/timer/timer.cc
+++ b/cyber/timer/timer.cc
@@ -112,6 +112,7 @@ bool Timer::InitTimerTask() {
                                  TIMER_RESOLUTION_MS) >= accumulated_error_ms) {
           task->next_fire_duration_ms =
               task->interval_ms - execute_time_ms - accumulated_error_ms;
+              task->accumulated_error_ns -= accumulated_error_ms * 1e6;
         } else {
           task->next_fire_duration_ms = TIMER_RESOLUTION_MS;
         }