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state_machine_helper: handle zero failsafe_timestamp

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This commit is contained in:
Matthias Grob
2021-01-18 18:17:15 +01:00
parent b44b770972
commit cd51cf2996
1 changed files with 3 additions and 2 deletions
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src/modules/commander/state_machine_helper.cpp
+3 -2
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@@ -389,8 +389,9 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason)
{
if (!old_failsafe && status->arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
// make sure intermittent failsafes don't lead to infinite delay by not constatnly reseting the timestamp
if (hrt_elapsed_time(&status->failsafe_timestamp) > 30_s) {
// make sure intermittent failsafes don't lead to infinite delay by not constantly reseting the timestamp
if (status->failsafe_timestamp == 0 ||
hrt_elapsed_time(&status->failsafe_timestamp) > 30_s) {
status->failsafe_timestamp = hrt_absolute_time();
}