fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ManualControlSelector: robust timeout check

Browse Source
This commit is contained in:
Matthias Grob 2025-07-29 11:30:50 +02:00
parent 543f8cba35
commit b876aa5b45
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/manual_control/ManualControlSelector.cpp
View File

@ -67,7 +67,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
{
// Check for timeout
const bool sample_from_the_past = now >= input.timestamp_sample;
const bool sample_newer_than_timeout = now - input.timestamp_sample < _timeout;
const bool sample_newer_than_timeout = now < input.timestamp_sample + _timeout;
// Check if source matches the configuration
const bool source_rc_matched = (_rc_in_mode == 0) && (input.data_source == manual_control_setpoint_s::SOURCE_RC);