From e0a8d217fc084d8d7f40596555d3ceec735e2cb9 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 14 Feb 2022 13:28:39 -0500
Subject: [PATCH] mavlink increase HEARTBEAT timeout 1.5->2.5s

 - tolerate missing one HEARTBEAT + jitter
---
 msg/telemetry_status.msg | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/msg/telemetry_status.msg b/msg/telemetry_status.msg
index 6903f59279..74a08efe91 100644
--- a/msg/telemetry_status.msg
+++ b/msg/telemetry_status.msg
@@ -35,7 +35,7 @@ uint32 rx_packet_drop_count             # number of packet drops
 float32 rx_message_lost_rate
 
 
-uint64 HEARTBEAT_TIMEOUT_US = 1500000       # Heartbeat timeout 1.5 seconds
+uint64 HEARTBEAT_TIMEOUT_US = 2500000       # Heartbeat timeout (tolerate missing 1 + jitter)
 
 # Heartbeats per type
 bool heartbeat_type_antenna_tracker         # MAV_TYPE_ANTENNA_TRACKER