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AP_Mount: Siyi health check avoids race condition

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This commit is contained in:
Randy Mackay 2023-06-23 14:23:22 +09:00
parent 5d97a4b3d6
commit c7b64dc448
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -150,7 +150,8 @@ bool AP_Mount_Siyi::healthy() const
}
// unhealthy if attitude information NOT received recently
if (AP_HAL::millis() - _last_current_angle_rad_ms > 1000) {
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_current_angle_rad_ms > 1000) {
return false;
}