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ManualControl: use current sample for timeout check

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This commit is contained in:
Matthias Grob
2021-02-25 16:01:35 +01:00
parent a43a829fdf
commit 2f39651f77
1 changed files with 4 additions and 4 deletions
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src/modules/commander/ManualControl.cpp
+4 -4
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@@ -46,10 +46,6 @@ bool ManualControl::update()
{
bool ret = false;
_rc_available = _rc_allowed
&& _last_manual_control_setpoint.timestamp != 0
&& (hrt_elapsed_time(&_last_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
if (_manual_control_setpoint_sub.updated()) {
manual_control_setpoint_s manual_control_setpoint;
@@ -60,6 +56,10 @@ bool ManualControl::update()
ret = true;
}
_rc_available = _rc_allowed
&& _manual_control_setpoint.timestamp != 0
&& (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
return ret && _rc_available;
}