From a8617cf6817e063b56ceaad360186c41033aa785 Mon Sep 17 00:00:00 2001
From: Matteo Del Seppia <71389092+matteodelseppia@users.noreply.github.com>
Date: Tue, 4 Jun 2024 03:48:38 +0200
Subject: [PATCH] Fix float and uint64_t comparison (#23199)

fix: ControlAllocator float and int comparison bug

There was an incorrect comparison between a float variable `dt` and a `uint64_t` value representing 5 milliseconds (`5_ms`). As a result, `do_update` could never become true even if the last torque setpoint was received more than 5 milliseconds before.

To solve this, the `5_ms` value has been converted to seconds (0.005f) for the comparison with `dt`.
---
 src/modules/control_allocator/ControlAllocator.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 2ead22c570..3399bd6190 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -393,7 +393,7 @@ ControlAllocator::Run()
 	if (_vehicle_thrust_setpoint_sub.update(&vehicle_thrust_setpoint)) {
 		_thrust_sp = matrix::Vector3f(vehicle_thrust_setpoint.xyz);
 
-		if (dt > 5_ms) {
+		if (dt > 0.005f) {
 			do_update = true;
 			_timestamp_sample = vehicle_thrust_setpoint.timestamp_sample;
 		}