AC_PosControl: fix dt sanity checking

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -528,7 +528,7 @@ void AC_PosControl::update_xy_controller(xy_mode mode, float ekfNavVelGainScaler
     _last_update_xy_ms = now;
 
     // sanity check dt - expect to be called faster than ~5hz
-    if (dt > POSCONTROL_ACTIVE_TIMEOUT_MS) {
+    if (dt > POSCONTROL_ACTIVE_TIMEOUT_SEC) {
         dt = 0.0f;
     }
 
@@ -589,7 +589,7 @@ void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
     float dt = (now - _last_update_xy_ms) / 1000.0f;
 
     // sanity check dt - expect to be called faster than ~5hz
-    if (dt >= POSCONTROL_ACTIVE_TIMEOUT_MS) {
+    if (dt >= POSCONTROL_ACTIVE_TIMEOUT_SEC) {
         dt = 0.0f;
     }
 

libraries/AC_AttitudeControl/AC_PosControl.h

@@ -36,7 +36,7 @@
 #define POSCONTROL_DT_10HZ                      0.10f   // time difference in seconds for 10hz update rate
 #define POSCONTROL_DT_50HZ                      0.02f   // time difference in seconds for 50hz update rate
 
-#define POSCONTROL_ACTIVE_TIMEOUT_MS            200     // position controller is considered active if it has been called within the past 200ms (0.2 seconds)
+#define POSCONTROL_ACTIVE_TIMEOUT_SEC           0.2f    // position controller is considered active if it has been called within the past 0.2 seconds
 
 #define POSCONTROL_VEL_ERROR_CUTOFF_FREQ        4.0     // 4hz low-pass filter on velocity error
 #define POSCONTROL_ACCEL_ERROR_CUTOFF_FREQ      2.0     // 2hz low-pass filter on accel error