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

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Peter Barker 2024-02-21 10:25:49 +11:00 committed by Andrew Tridgell
parent 6caa66835b
commit 9616309a3f
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
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@ -58,13 +58,13 @@ public:
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