From ada2bb4c42bb58b4ddb2cb12ab54c0c6c69ccebc Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 20 Nov 2024 13:19:15 -0500
Subject: [PATCH] uORB_tests: relax latency threshold on non-realtime SITL

---
 platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
index b40b60ad4760..035d2f9ac52a 100644
--- a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -146,7 +146,14 @@ int uORBTest::UnitTest::pubsublatency_main()
 
 	pubsubtest_passed = true;
 
-	if (mean > 150.0f) {
+#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
+	// relaxed on SITL (non-realtime)
+	const float kMaxMeanUs = 1000.f; // 1000 microseconds
+#else
+	const float kMaxMeanUs = 150.f; // 150 microseconds
+#endif
+
+	if (mean > kMaxMeanUs) {
 		pubsubtest_res = PX4_ERROR;
 
 	} else {