From 6fc5014a84ad016edc9df4635c78c574adcca410 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Aug 2014 19:37:00 +0900
Subject: [PATCH] Copter: increase sonar timeout to 1sec

Contributed by Julien Dubois.
---
 ArduCopter/Attitude.pde | 2 +-
 ArduCopter/config.h     | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index a496cc49c8..4daefa0fa0 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -234,7 +234,7 @@ static float get_throttle_surface_tracking(int16_t target_rate, float current_al
     uint32_t now = millis();
 
     // reset target altitude if this controller has just been engaged
-    if( now - last_call_ms > 200 ) {
+    if (now - last_call_ms > SONAR_TIMEOUT_MS) {
         target_sonar_alt = sonar_alt + current_alt_target - current_loc.alt;
     }
     last_call_ms = now;
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 7293119e8a..eae4043fc8 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -199,6 +199,10 @@
  # define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with sonar
 #endif
 
+#ifndef SONAR_TIMEOUT_MS
+ # define SONAR_TIMEOUT_MS  1000            // desired sonar alt will reset to current sonar alt after this many milliseconds without a good sonar alt
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // Channel 7 and 8 default options
 //