ekf2: don't timeout in HITL mode

Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
PX4 · May 8, 2021 · 29730e3 · 29730e3
1 parent ac97b55
commit 29730e3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -1742,7 +1742,8 @@ int EKF2::task_spawn(int argc, char *argv[])
 
 		while ((multi_instances_allocated < multi_instances)
 		       && (vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED)
-		       && (hrt_elapsed_time(&time_started) < 30_s)) {
+		       && ((hrt_elapsed_time(&time_started) < 30_s)
+			   || (vehicle_status_sub.get().hil_state == vehicle_status_s::HIL_STATE_ON))) {
 
 			vehicle_status_sub.update();