From f5fd0ffe26d20cf4a2d02c78ec061ef20df58ed1 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 18 Mar 2014 16:00:59 +0400
Subject: [PATCH] NodeStatus TX timeout set to a large value

---
 libuavcan/include/uavcan/protocol/node_status_provider.hpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libuavcan/include/uavcan/protocol/node_status_provider.hpp b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
index deeafcd3db..368a04fcdd 100644
--- a/libuavcan/include/uavcan/protocol/node_status_provider.hpp
+++ b/libuavcan/include/uavcan/protocol/node_status_provider.hpp
@@ -60,6 +60,9 @@ public:
         node_info_.uavcan_version.build = UAVCAN_VERSION_BUILD;
 
         node_info_.status.status_code = protocol::NodeStatus::STATUS_INITIALIZING;
+
+        // NodeStatus TX timeout equals its publication period minus some arbitrary time gap:
+        node_status_pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS - 10));
     }
 
     int startAndPublish();