AP_Bootloader: cope with very delayed links in DroneCAN bootloader

this makes it possible to update a periph over the support.ardupilot.org link
tridge · Dec 26, 2024 · 2d0174c · 2d0174c
1 parent 42f1aea
commit 2d0174c
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
@@ -276,7 +276,8 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
         }
     }
     if (!found) {
-        // not a current transfer
+        // not a current transfer, we may be getting long delays
+        fw_update.rtt_ms = MIN(3000, fw_update.rtt_ms+250);
         return;
     }
     if (uavcan_protocol_file_ReadResponse_decode(transfer, &fw_update.reads[idx].pkt)) {