From 12dfccf65a7616e8200699f8fae963d0d481c45d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Apr 2019 17:21:08 +1000
Subject: [PATCH] AP_InertialSensor: prevent watchdog in accelcal

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index abe556f6e6..5fd4c5f6e8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1106,6 +1106,8 @@ AP_InertialSensor::_init_gyro()
     // cold start
     hal.console->printf("Init Gyro");
 
+    hal.scheduler->expect_delay_ms(60000);
+
     /*
       we do the gyro calibration with no board rotation. This avoids
       having to rotate readings during the calibration
@@ -1220,6 +1222,8 @@ AP_InertialSensor::_init_gyro()
 
     // stop flashing leds
     AP_Notify::flags.initialising = false;
+
+    hal.scheduler->expect_delay_ms(0);
 }
 
 // save parameters to eeprom
@@ -1681,11 +1685,13 @@ void AP_InertialSensor::acal_update()
         return;
     }
 
+    hal.scheduler->expect_delay_ms(20000);
     _acal->update();
 
     if (hal.util->get_soft_armed() && _acal->get_status() != ACCEL_CAL_NOT_STARTED) {
         _acal->cancel();
     }
+    hal.scheduler->expect_delay_ms(0);
 }
 
 /*