From bc91005e7aef64ca5e89f72baceee7128678f1d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 9 Mar 2017 11:15:01 +0100 Subject: [PATCH] voted_sensors_update: increase accel & gyro timeout in HIL mode --- src/modules/sensors/voted_sensors_update.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index bc6e44221b..d10cd51cae 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -82,6 +82,11 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters ¶meters, bool hil_en _baro.voter.set_timeout(300000); _mag.voter.set_timeout(300000); _mag.voter.set_equal_value_threshold(1000); + + if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit + _gyro.voter.set_timeout(200000); + _accel.voter.set_timeout(200000); + } } int VotedSensorsUpdate::init(sensor_combined_s &raw)