From ea8b870067877f769a292ee41c3e5b43e41688b7 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Wed, 22 Mar 2017 16:02:16 -0400
Subject: [PATCH] Sub: Increase timeout for MANUAL_CONTROL failsafe

---
 ArduSub/events.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduSub/events.cpp b/ArduSub/events.cpp
index 5201bd33eb..943413447b 100644
--- a/ArduSub/events.cpp
+++ b/ArduSub/events.cpp
@@ -34,8 +34,8 @@ void Sub::failsafe_manual_control_check()
 #if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     uint32_t tnow = AP_HAL::millis();
 
-    // Require at least 2Hz update
-    if (tnow > failsafe.last_manual_control_ms + 500) {
+    // Require at least 0.5 Hz update
+    if (tnow > failsafe.last_manual_control_ms + 2000) {
         if (!failsafe.manual_control) {
             failsafe.manual_control = true;
             set_neutral_controls();