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AP_ADSB: fix bug where the update timeout wasn't being stored correctly

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- causes immediate timeout so all samples were dropped
- now the timeout is current and respects the time-since-last-comms/packet so we can ignore stale packets
This commit is contained in:
Tom Pittenger 2016-08-01 12:43:47 -07:00
parent e0bb77726e
commit b12edf6a71
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_ADSB/AP_ADSB.cpp
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@ -396,6 +396,10 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
float my_loc_distance_to_vehicle = _my_loc.get_distance(vehicle_loc);
bool out_of_range = in_state.list_radius > 0 && !my_loc_is_zero && my_loc_distance_to_vehicle > in_state.list_radius;
bool is_tracked_in_list = find_index(vehicle, &index);
uint32_t now = AP_HAL::millis();
// note the last time the receiver got a packet from the aircraft
vehicle.last_update_ms = now - (vehicle.info.tslc * 1000);
if (vehicle_loc.is_zero() || out_of_range) {
@ -438,7 +442,6 @@ void AP_ADSB::update_vehicle(const mavlink_message_t* packet)
}
} // if buffer full
vehicle.last_update_ms = AP_HAL::millis() - (vehicle.info.tslc * 1000);
push_sample(vehicle); // note that set_vehicle modifies vehicle
}