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DataFlash: Fix a false reporting of dead IO thread when millis() wraps

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Michael du Breuil 2018-05-13 01:33:58 -07:00 committed by Randy Mackay
parent 703c7fb4b7
commit 7e4972a061
1 changed files with 1 additions and 2 deletions
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3
libraries/DataFlash/DataFlash_File.cpp
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@ -1098,9 +1098,8 @@ bool DataFlash_File::logging_enabled() const
bool DataFlash_File::io_thread_alive() const
{
uint32_t tnow = AP_HAL::millis();
// if the io thread hasn't had a heartbeat in a full second then it is dead
return _io_timer_heartbeat + 1000 > tnow;
return (AP_HAL::millis() - _io_timer_heartbeat) < 1000;
}
bool DataFlash_File::logging_failed() const