fix(Joystick): match actual update rate to joystick setting

[bosism]

Bug Description

The joystick's actual axis update rate can be lower than the value configured in Axis frequency. With the default 25 Hz setting, the configured interval is 40 ms, but an update at exactly 40 ms was rejected.

Root Cause

The polling thread checks joystick state approximately every 20 ms. _handleAxis() returned while the elapsed time was less than or equal to the configured interval. A poll at exactly 40 ms was therefore skipped and the update could be delayed until the next poll, around 60 ms.

Solution

Treat the configured interval as inclusive: an axis update is due when elapsed >= delay. A deterministic regression test covers the boundary at 39, 40, and 41 ms.

Testing

• Tested locally
• Added regression test
• Tested with simulator (SITL)
• Tested with hardware

Validation performed:

• Debug build completed successfully.
• All joystick-labelled unit tests pass (4/4).
• Relevant repository policy hooks and changed-line clang-format checks pass.
• The full Unit label passes 193/194 tests. The unrelated BluetoothWorkerTest fails because the host BlueZ backend emits an unexpected warning for the test's invalid Bluetooth address; the failure reproduces when that test is run alone.

Platforms Tested

• Linux
• Windows
• macOS
• Android
• iOS

Flight Stacks Tested

• PX4
• ArduPilot
• N/A

Checklist

• I have read the Contribution Guidelines
• My code follows the project's coding standards
• I have added a test that reproduces the bug
• New and existing unit tests pass locally (193/194; unrelated Bluetooth failure described above)

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By submitting this pull request, I confirm that my contribution is made under the terms of the project's dual license (Apache 2.0 and GPL v3).

[github-actions]

Thanks for your first pull request! 🎉

A maintainer will review this soon. Please ensure:

• CI checks pass
• Code follows coding standards
• Changes tested on relevant platforms

We appreciate your contribution to QGroundControl!

[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 32.73%. Comparing base (f29efd3) to head (0c25e13).
⚠️ Report is 260 commits behind head on master.

Files with missing lines	Patch %	Lines
src/Joystick/Joystick.cc	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master   #14797      +/-   ##
==========================================
+ Coverage   25.47%   32.73%   +7.26%     
==========================================
  Files         769      784      +15     
  Lines       65912    67635    +1723     
  Branches    30495    31330     +835     
==========================================
+ Hits        16788    22141    +5353     
+ Misses      37285    30589    -6696     
- Partials    11839    14905    +3066     

Flag	Coverage Δ
unittests	32.73% <50.00%> (+7.26%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
src/Joystick/Joystick.h	17.02% <100.00%> (+1.96%)	⬆️
src/Joystick/Joystick.cc	11.16% <0.00%> (+3.82%)	⬆️

... and 475 files with indirect coverage changes

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[github-actions]

Build Results

Platform Status

Platform	Status	Details
Linux	Passed	View
Windows	Passed	View
MacOS	Passed	View
Android	Passed	View

All builds passed.

Pre-commit

Check	Status	Details
pre-commit	Failed (non-blocking)	View

Pre-commit hooks: 0 passed, 0 failed, 0 skipped.

Test Results

linux-coverage-integration: 37 passed, 0 skipped
linux-coverage-unit: 120 passed, 0 skipped
linux-sanitizers-integration: 20 passed, 0 skipped
linux-sanitizers-unit: 120 passed, 0 skipped
Total: 297 passed, 0 skipped

Code Coverage

Coverage: 69.5%

No baseline available for comparison

Artifact Sizes

Artifact	Size
QGroundControl	252.61 MB
QGroundControl-aarch64	179.35 MB
QGroundControl-installer-AMD64	137.86 MB
QGroundControl-installer-AMD64-ARM64	80.38 MB
QGroundControl-installer-ARM64	109.13 MB
QGroundControl-linux	87.04 MB
QGroundControl-mac	87.04 MB
QGroundControl-x86_64	191.58 MB
No baseline available for comparison

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_{Updated: 2026-08-09 15:48:28 UTC • Commit: 0c25e13 • Triggered by: MacOS}