fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: don't timeout in HITL mode

Browse Source 
Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
This commit is contained in:
Julian Oes 2021-05-07 10:13:20 +02:00 committed by Daniel Agar
parent ac97b5520c
commit 29730e30fa
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/ekf2/EKF2.cpp
View File

@ -1742,7 +1742,8 @@ int EKF2::task_spawn(int argc, char *argv[])
while ((multi_instances_allocated < multi_instances)
&& (vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED)
&& (hrt_elapsed_time(&time_started) < 30_s)) {
&& ((hrt_elapsed_time(&time_started) < 30_s)
|| (vehicle_status_sub.get().hil_state == vehicle_status_s::HIL_STATE_ON))) {
vehicle_status_sub.update();