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AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta #26274

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AP_RCProtocol: CRSF: use subtraction with times, not time+timedelta #26274

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4 changes: 2 additions & 2 deletions libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,13 +58,13 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
bool is_rx_active() const override {
// later versions of CRSFv3 will send link rate frames every 200ms
// but only before an initial failsafe
return AP_HAL::micros() < _last_rx_frame_time_us + CRSF_RX_TIMEOUT;
return _last_rx_frame_time_us != 0 && AP_HAL::micros() - _last_rx_frame_time_us < CRSF_RX_TIMEOUT;
}

// is the transmitter active, used to adjust telemetry data
bool is_tx_active() const {
// this is the same as the Copter failsafe timeout
return AP_HAL::micros() < _last_tx_frame_time_us + CRSF_TX_TIMEOUT;
return _last_tx_frame_time_us != 0 && AP_HAL::micros() - _last_tx_frame_time_us < CRSF_TX_TIMEOUT;
}

// get singleton instance
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