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Failsafe: validate dead reckoning timeout param

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Pernilla
2025-10-30 09:32:26 +01:00
parent 3ff238c00f
commit 486d3bfb07
1 changed files with 1 additions and 0 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
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@@ -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().mode_req_local_position && !reporter.failsafeFlags().local_position_invalid))) {
reporter.failsafeFlags().dead_reckoning_invalid = (_last_not_dead_reckoning_time_us != 0 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); && now > _last_not_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
} }
} }