voted_sensors_update: increase accel & gyro timeout in HIL mode

8 years ago · bc91005e7a
1 changed files with 5 additions and 0 deletions
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@ -82,6 +82,11 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_en
				@@ -82,6 +82,11 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_en
 	_baro.voter.set_timeout(300000);
 	_mag.voter.set_timeout(300000);
 	_mag.voter.set_equal_value_threshold(1000);
+
+	if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit
+		_gyro.voter.set_timeout(200000);
+		_accel.voter.set_timeout(200000);
+	}
 }

 int VotedSensorsUpdate::init(sensor_combined_s &raw)