From b2fc5993cc59f64e941d3ced2fd1e780954a2190 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Tue, 17 Feb 2026 14:10:04 -0900
Subject: [PATCH] range_finder_consistency_check: fix consistency check timeout
 units (#26497)

* range_finder_consistency_check: fix consistency check timeout units

* explicit float

* format
---
 .../range_finder/range_finder_consistency_check.cpp           | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
index e6b520b600..17a54e60cb 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
@@ -75,7 +75,9 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
 void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
 {
 	if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
-		if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) {
+		uint64_t timeout_us = _signed_test_ratio_tau * 1e6f;
+
+		if ((time_us - _time_last_horizontal_motion) > timeout_us) {
 			_is_kinematically_consistent = false;
 			_time_last_inconsistent_us = time_us;
 		}