From 8bc5e3bd7f74642ccbf3def0ce9b4e51d395f915 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Thu, 7 May 2026 11:46:43 +0200
Subject: [PATCH] refactor(control_allocator): reorder inequality to avoid uint
 wrapping

and add unit to variable name
---
 src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp | 2 +-
 src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp b/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
index cb666647aa..23299d55d6 100644
--- a/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
+++ b/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
@@ -168,7 +168,7 @@ void ActuatorGroupPreflightCheck::updateState(hrt_abstime now)
 		}
 	}
 
-	if (now - _started >= PREFLIGHT_CHECK_DURATION) {
+	if (now >= _started + PREFLIGHT_CHECK_DURATION_US) {
 		_running = false;
 		sendAck(_last_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED, now);
 	}
diff --git a/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp b/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
index ba16d9c798..4a64b2cde4 100644
--- a/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
+++ b/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
@@ -84,7 +84,7 @@ public:
 			    ActuatorEffectiveness &effectiveness);
 
 private:
-	static constexpr hrt_abstime PREFLIGHT_CHECK_DURATION = 500'000;  // 500 ms
+	static constexpr hrt_abstime PREFLIGHT_CHECK_DURATION_US = 500'000;  // 500 ms
 
 	static bool isThrust(uint8_t group);
 	static bool isKnownGroup(uint8_t group);