From b8ccde428c8ab3532291da08c0678fb44a78affc Mon Sep 17 00:00:00 2001
From: Michael Fritsche <64464652+Frigiii@users.noreply.github.com>
Date: Fri, 8 May 2026 10:23:42 +0200
Subject: [PATCH] fix(commander): rename timeout for clarity, increase
 esc_telemetry_timeout (#27241)

---
 .../commander/HealthAndArmingChecks/checks/escCheck.cpp       | 4 ++--
 .../commander/HealthAndArmingChecks/checks/escCheck.hpp       | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
index 37e999e146..57e17664ff 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
@@ -123,11 +123,11 @@ uint16_t EscChecks::checkEscOnline(const Context &context, Report &reporter, con
 			continue; // Skip unmapped ESC status entries
 		}
 
-		const bool timeout = now > esc_status.esc[esc_index].timestamp + ESC_TIMEOUT_US;
+		const bool esc_telemetry_timeout = now > esc_status.esc[esc_index].timestamp + ESC_TIMEOUT_US;
 		const bool is_offline = (esc_status.esc_online_flags & (1 << esc_index)) == 0;
 
 		// Set failure bits for this motor
-		if (timeout || is_offline) {
+		if (esc_telemetry_timeout || is_offline) {
 			mask |= (1u << esc_index);
 
 			uint8_t esc_nr = esc_index + 1;
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
index ab7a2986c2..c053127ac2 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.hpp
@@ -58,7 +58,7 @@ private:
 	uint16_t checkMotorStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
 	void updateEscsStatus(const Context &context, Report &reporter, const esc_status_s &esc_status, hrt_abstime now);
 
-	static constexpr hrt_abstime ESC_TIMEOUT_US = 300_ms;
+	static constexpr hrt_abstime ESC_TIMEOUT_US = 400_ms;
 
 	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};