From b876aa5b45ab4f31ceecc6daa2f5a1ea091bb860 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 29 Jul 2025 11:30:50 +0200 Subject: [PATCH] ManualControlSelector: robust timeout check --- src/modules/manual_control/ManualControlSelector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp index f498534f72..0ccc93635c 100644 --- a/src/modules/manual_control/ManualControlSelector.cpp +++ b/src/modules/manual_control/ManualControlSelector.cpp @@ -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);