From 1bb18bc9415f43d48b4ad2b146706333f4682376 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Jan 2018 11:34:31 +0900
Subject: [PATCH] AR_AttitudeControl: get_throttle_out_speed uses timeout
 definition

---
 libraries/APM_Control/AR_AttitudeControl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index dc8209917f..2c72a293e2 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -320,7 +320,7 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
     // calculate dt
     const uint32_t now = AP_HAL::millis();
     float dt = (now - _speed_last_ms) / 1000.0f;
-    if (_speed_last_ms == 0 || dt > 0.1f) {
+    if ((_speed_last_ms == 0) || (dt > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
         dt = 0.0f;
         _throttle_speed_pid.reset_filter();
     } else {