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fix: update dead reckoning timestamp outside vehicle status copy

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Pernilla
2025-10-28 17:13:57 +01:00
parent 836d2228fc
commit 3ff238c00f
1 changed files with 4 additions and 4 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+4 -4
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@@ -654,11 +654,11 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
vehicle_land_detected_s vehicle_land_detected;
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
if (!lpos.dead_reckoning) {
_last_not_dead_reckoning_time_us = now;
}
if (!lpos.dead_reckoning) {
_last_not_dead_reckoning_time_us = now;
}
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
if (!vehicle_land_detected.landed && ((reporter.failsafeFlags().mode_req_global_position
&& !reporter.failsafeFlags().global_position_invalid) ||