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

Failsafe: validate dead reckoning timeout param

Browse Source
This commit is contained in:
Pernilla 2025-10-29 18:02:44 +01:00
parent 3ff238c00f
commit 486d3bfb07
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
View File

@ -667,6 +667,7 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
(reporter.failsafeFlags().mode_req_local_position && !reporter.failsafeFlags().local_position_invalid))) {
reporter.failsafeFlags().dead_reckoning_invalid = (_last_not_dead_reckoning_time_us != 0
&& _param_com_dead_reckoning_tout_t.get() > FLT_EPSILON
&& now > _last_not_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
}
}