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HAL_SITL: fixed delay() for SITL threads

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with the new thread_create() interface we need to handle delays a bit
differently
This commit is contained in:
Andrew Tridgell 2018-07-12 15:03:27 +10:00
parent 785cf293cd
commit 10e9182c21
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -56,15 +56,17 @@ void Scheduler::delay_microseconds(uint16_t usec)
void Scheduler::delay(uint16_t ms) void Scheduler::delay(uint16_t ms)
{ {
while (ms > 0) { uint32_t start = AP_HAL::millis();
uint32_t now = start;
do {
delay_microseconds(1000); delay_microseconds(1000);
ms--; if (_min_delay_cb_ms <= (ms - (now - start))) {
if (_min_delay_cb_ms <= ms) {
if (in_main_thread()) { if (in_main_thread()) {
call_delay_cb(); call_delay_cb();
} }
} }
} now = AP_HAL::millis();
} while (now - start < ms);
} }
void Scheduler::register_timer_process(AP_HAL::MemberProc proc) void Scheduler::register_timer_process(AP_HAL::MemberProc proc)