DataFlash: Fix a false reporting of dead IO thread when millis() wraps

7 years ago · 7e4972a061
1 changed files with 1 additions and 2 deletions
--- a/libraries/DataFlash/DataFlash_File.cpp
+++ b/libraries/DataFlash/DataFlash_File.cpp
@ -1098,9 +1098,8 @@ bool DataFlash_File::logging_enabled() const
				@@ -1098,9 +1098,8 @@ bool DataFlash_File::logging_enabled() const

 bool DataFlash_File::io_thread_alive() const
 {
-    uint32_t tnow = AP_HAL::millis();
    // if the io thread hasn't had a heartbeat in a full second then it is dead
-    return _io_timer_heartbeat + 1000 > tnow;
+    return (AP_HAL::millis() - _io_timer_heartbeat) < 1000;
 }

 bool DataFlash_File::logging_failed() const