From 0f3e30a0c3f06aae58a7f343fd7820dded6b08c8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 6 Dec 2012 13:37:56 +1100
Subject: [PATCH] HAL_AVR: fixed race condition in delay()

---
 libraries/AP_HAL_AVR/Scheduler.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_AVR/Scheduler.cpp b/libraries/AP_HAL_AVR/Scheduler.cpp
index bd6fac5699..46fd4fddc0 100644
--- a/libraries/AP_HAL_AVR/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR/Scheduler.cpp
@@ -1,3 +1,4 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 #include <avr/io.h>
 #include <avr/interrupt.h>
@@ -183,6 +184,7 @@ void AVRScheduler::delay(uint32_t ms)
     while (ms > 0) {
         while ((micros() - start) >= 1000) {
             ms--;
+            if (ms == 0) break;
             start += 1000;
         }
         if (_min_delay_cb_ms <= ms) {