ardupilot/ArduCopter/compat.pde

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static void delay(uint32_t ms)
{
hal.scheduler->delay(ms);
}
static void mavlink_delay(uint32_t ms)
{
hal.scheduler->delay(ms);
}
static uint32_t millis()
{
return hal.scheduler->millis();
}
static uint32_t micros()
{
return hal.scheduler->micros();
}