From 438a7dd79ab700e6a6c398b4b96192ce6d30ec6f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 24 May 2018 20:23:37 +1000
Subject: [PATCH] AP_UAVCAN: increase message timeout to 2ms

this reduces the number of msg timeouts
---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index d5284e9f4f..1a3cc4097b 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -84,7 +84,7 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
 
 // this is the timeout in milliseconds for periodic message types. We
 // set this to 1 to minimise resend of stale msgs
-#define CAN_PERIODIC_TX_TIMEOUT_MS 1
+#define CAN_PERIODIC_TX_TIMEOUT_MS 2
 
 static void gnss_fix_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>& msg, uint8_t mgr)
 {