From 0461692ea59ff27afc6911f026e1d271d43b5c03 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 22 Apr 2019 12:53:10 +1000
Subject: [PATCH] HAL_ChibiOS: enable watchdog on IOMCU

---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 7664c4a9d9..5cfc416a2e 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -204,15 +204,17 @@ static void main_loop()
      */
     chThdSetPriority(APM_MAIN_PRIORITY);
 
+#ifndef IOMCU_FW
     // setup watchdog to reset if main loop stops
     if (AP_BoardConfig::watchdog_enabled()) {
         stm32_watchdog_init();
     }
 
-#ifndef IOMCU_FW
     if (hal.util->was_watchdog_reset()) {
         AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
     }
+#else
+    stm32_watchdog_init();
 #endif
 
     while (true) {