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commander: fix check for availability of high latency link

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Igor Mišić
2023-02-14 12:12:36 +01:00
committed by Beat Küng
parent f543951e10
commit df2cc4af05
1 changed files with 1 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -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},