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AP_DroneCAN: properly convert timeout to deadline for aux frames #28308

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Oct 7, 2024
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AP_DroneCAN: properly convert timeout to deadline for aux frames #28308

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3 changes: 2 additions & 1 deletion libraries/AP_DroneCAN/AP_Canard_iface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -458,12 +458,13 @@ bool CanardInterface::add_11bit_driver(CANSensor *sensor)
// handler for outgoing frames for auxillary drivers
bool CanardInterface::write_aux_frame(AP_HAL::CANFrame &out_frame, const uint64_t timeout_us)
{
const uint64_t tx_deadline_us = AP_HAL::micros64() + timeout_us;
bool ret = false;
for (uint8_t iface = 0; iface < num_ifaces; iface++) {
if (ifaces[iface] == NULL) {
continue;
}
ret |= ifaces[iface]->send(out_frame, timeout_us, 0) > 0;
ret |= ifaces[iface]->send(out_frame, tx_deadline_us, 0) > 0;
}
return ret;
}
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