From 60e9ea977d90a05826c86eea14f4a2807851d49c Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 24 Jun 2013 09:50:55 +0200 Subject: [PATCH] Conditions where set wrongly in the first 2s after boot --- src/modules/commander/commander.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index edcdf7e546..9d3adaa1d4 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -1658,7 +1658,7 @@ int commander_thread_main(int argc, char *argv[]) /* check for global or local position updates, set a timeout of 2s */ - if (hrt_absolute_time() - last_global_position_time < 2000000) { + if (hrt_absolute_time() - last_global_position_time < 2000000 && hrt_absolute_time() > 2000000) { current_status.condition_global_position_valid = true; // XXX check for controller status and home position as well @@ -1666,7 +1666,7 @@ int commander_thread_main(int argc, char *argv[]) current_status.condition_global_position_valid = false; } - if (hrt_absolute_time() - last_local_position_time < 2000000) { + if (hrt_absolute_time() - last_local_position_time < 2000000 && hrt_absolute_time() > 2000000) { current_status.condition_local_position_valid = true; // XXX check for controller status and home position as well @@ -1675,7 +1675,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_diff_pres_time < 2000000) { + if (hrt_absolute_time() - last_diff_pres_time < 2000000 && hrt_absolute_time() > 2000000) { current_status.condition_airspeed_valid = true; } else {