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arm_auth: use ack reception timestamp to compute authorization timeout

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This commit is contained in:
Nicolas MARTIN
2020-09-14 15:11:19 +02:00
committed by Beat Küng
parent e89c21155a
commit 6579544fca
1 changed files with 1 additions and 1 deletions
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src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+1 -1
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@@ -230,7 +230,7 @@ void arm_auth_update(hrt_abstime now, bool param_update)
"Arm auth: Authorized for the next %u seconds", "Arm auth: Authorized for the next %u seconds",
command_ack.result_param2); command_ack.result_param2);
state = ARM_AUTH_MISSION_APPROVED; state = ARM_AUTH_MISSION_APPROVED;
auth_timeout = now + (command_ack.result_param2 * 1000000); auth_timeout = command_ack.timestamp + (command_ack.result_param2 * 1000000);
return; return;
case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED: case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED: