From 486d3bfb079e442e8d6e13b1d0b998d4ef199231 Mon Sep 17 00:00:00 2001 From: Pernilla Date: Wed, 29 Oct 2025 18:02:44 +0100 Subject: [PATCH] Failsafe: validate dead reckoning timeout param --- .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 4b7f2fe135..b78c100444 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -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); } }