AP_DroneCAN: mark iface down if no message for 2s

CubePilot · May 14, 2024 · d5c4de9 · d5c4de9
1 parent d87ca58
commit d5c4de9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
@@ -225,7 +225,7 @@ void CanardInterface::processTx(bool raw_commands_only = false) {
         volatile const auto *stats = ifaces[iface]->get_statistics();
         uint64_t last_transmit_us = stats==nullptr?0:stats->last_transmit_us;
         bool iface_down = true;
-        if (stats == nullptr || (AP_HAL::micros64() - last_transmit_us) < 200000UL) {
+        if (stats == nullptr || (AP_HAL::micros64() - last_transmit_us) < 2000000UL) {
             /*
             We were not able to queue the frame for
             sending. Only mark the send as failing if the