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hysteresis: avoid subtracting unsigned integers

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- avoid potential errors with timestamp passed in from different sources
This commit is contained in:
Daniel Agar 2022-09-27 22:07:31 -04:00
parent 06f2004580
commit 16f8adb4b3
1 changed files with 2 additions and 4 deletions
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6
src/lib/hysteresis/hysteresis.cpp
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@ -74,17 +74,15 @@ Hysteresis::update(const hrt_abstime &now_us)
{
if (_requested_state != _state) {
const hrt_abstime elapsed = now_us - _last_time_to_change_state;
if (_state && !_requested_state) {
// true -> false
if (elapsed >= _time_from_true_us) {
if (now_us >= _last_time_to_change_state + _time_from_true_us) {
_state = false;
}
} else if (!_state && _requested_state) {
// false -> true
if (elapsed >= _time_from_false_us) {
if (now_us >= _last_time_to_change_state + _time_from_false_us) {
_state = true;
}
}