From df2cc4af05fd6e387abb40fa9cf32639b44c378f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Igor=20Mi=C5=A1i=C4=87?= Date: Tue, 14 Feb 2023 12:12:36 +0100 Subject: [PATCH] commander: fix check for availability of high latency link Signed-off-by: RomanBapst --- src/modules/commander/Commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 444f5b0c8d..fc26a052ff 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -1109,7 +1109,7 @@ Commander::handle_command(const vehicle_command_s &cmd) case vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY: { // if no high latency telemetry exists send a failed acknowledge - if (_high_latency_datalink_heartbeat > _boot_timestamp) { + if (_high_latency_datalink_heartbeat < _boot_timestamp) { cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_FAILED; mavlink_log_critical(&_mavlink_log_pub, "Control high latency failed! Telemetry unavailable\t"); events::send(events::ID("commander_ctrl_high_latency_failed"), {events::Log::Critical, events::LogInternal::Info},