From d5c4de9a6034967b34a200a721ac695aa218a510 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Tue, 14 May 2024 13:03:35 +1000 Subject: [PATCH] AP_DroneCAN: mark iface down if no message for 2s --- libraries/AP_DroneCAN/AP_Canard_iface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp index 9bf8501a272d5..e4573fbbbaeba 100644 --- 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