Sub: correct failsafe recovery test

7 years ago · c0a990fda7
1 changed files with 1 additions and 1 deletions
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@ -314,7 +314,7 @@ void Sub::failsafe_gcs_check()
				@@ -314,7 +314,7 @@ void Sub::failsafe_gcs_check()
    uint32_t tnow = AP_HAL::millis();

    // Check if we have gotten a GCS heartbeat recently (GCS sysid must match SYSID_MYGCS parameter)
-    if (tnow - failsafe.last_heartbeat_ms > FS_GCS_TIMEOUT_MS) {
+    if (tnow - failsafe.last_heartbeat_ms < FS_GCS_TIMEOUT_MS) {
        // Log event if we are recovering from previous gcs failsafe
        if (failsafe.gcs) {
            Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_GCS, ERROR_CODE_FAILSAFE_RESOLVED);