From ec5d36d9c75635b886092cc2dd8efa441c792a94 Mon Sep 17 00:00:00 2001 From: Claudio Micheli Date: Fri, 23 Aug 2019 09:28:34 +0200 Subject: [PATCH] UAVCAN esc: relax threshold for detecting offline escs. Signed-off-by: Claudio Micheli --- src/drivers/uavcan/actuators/esc.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp index 81ca4cba10..de4a964b8f 100644 --- a/src/drivers/uavcan/actuators/esc.cpp +++ b/src/drivers/uavcan/actuators/esc.cpp @@ -240,7 +240,7 @@ uint8_t UavcanEscController::check_escs_status() for (int index = 0; index < esc_status_s::CONNECTED_ESC_MAX; index++) { - if (_esc_status.esc[index].timestamp > 0 && now - _esc_status.esc[index].timestamp < 800_ms) { + if (_esc_status.esc[index].timestamp > 0 && now - _esc_status.esc[index].timestamp < 1200_ms) { esc_status_flags |= (1 << index); }