From 4064a23b30aa1cdd4170501c3f3a765ca4e47337 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 30 Jul 2017 14:59:05 +1000
Subject: [PATCH] Sub: fix underflow in scheduler

4eee3b1317b954c7c1df16ba2d264e2af695b77d fixed this in Copter
---
 ArduSub/ArduSub.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 9442d844a5..6a6303a39a 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -147,7 +147,7 @@ void Sub::loop()
     // the first call to the scheduler they won't run on a later
     // call until scheduler.tick() is called again
     uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
-    scheduler.run(time_available);
+    scheduler.run(time_available > MAIN_LOOP_MICROS ? 0u : time_available);
 }