ESC check: Avoid unsigned timestamp underflow in telemtry timeout (#2…

…4069) * Avoid unsigned integer underflow * ESC check: add brackets to timeout for readability --------- Co-authored-by: Matthias Grob <[email protected]>
PX4 · Dec 3, 2024 · dfa48f9 · dfa48f9
1 parent 8626019
commit dfa48f9
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
@@ -77,7 +77,7 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
 
 	esc_status_s esc_status;
 
-	if (_esc_status_sub.copy(&esc_status) && now - esc_status.timestamp < esc_telemetry_timeout) {
+	if (_esc_status_sub.copy(&esc_status) && (now < esc_status.timestamp + esc_telemetry_timeout)) {
 
 		checkEscStatus(context, reporter, esc_status);
 		reporter.setIsPresent(health_component_t::motors_escs);