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HAL_SITL: allow delay() and delay_microseconds() to work in examples 

when we have no sitl object we need to directly call stop_clock()
This commit is contained in:
Andrew Tridgell 2024-02-23 11:33:46 +11:00
parent e4c103972c
commit 39efe75e79
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -128,6 +128,11 @@ bool Scheduler::semaphore_wait_hack_required() const
void Scheduler::delay_microseconds(uint16_t usec) void Scheduler::delay_microseconds(uint16_t usec)
{ {
if (_sitlState->_sitl == nullptr) {
// this allows examples to run
hal.scheduler->stop_clock(AP_HAL::micros64()+usec);
return;
}
uint64_t start = AP_HAL::micros64(); uint64_t start = AP_HAL::micros64();
do { do {
uint64_t dtime = AP_HAL::micros64() - start; uint64_t dtime = AP_HAL::micros64() - start;