From 97c16352a5447ad938b88c38c1f3748c08e7bf08 Mon Sep 17 00:00:00 2001 From: mahima-yoga Date: Fri, 17 Oct 2025 13:04:43 +0200 Subject: [PATCH] fw-autotune: increase abort timeout to 30 seconds Avoids abort on heavily undertuned systems during amplitude detection state --- .../fw_autotune_attitude_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp index ebd9ae3a94..bfcd857092 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp @@ -550,7 +550,7 @@ void FwAutotuneAttitudeControl::updateStateMachine(hrt_abstime now) // In case of convergence timeout // the identification sequence is aborted immediately if (_state != state::wait_for_disarm && _state != state::idle && _state != state::fail && _state != state::complete) { - if (now - _state_start_time > 20_s + if (now - _state_start_time > 30_s || (_param_fw_at_man_aux.get() && !_aux_switch_en) || _start_flight_mode != _nav_state) { orb_advert_t mavlink_log_pub = nullptr;