From 42255ebbc6e977bd5a529ffbd1338cfd72998fcb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 8 Oct 2013 11:26:04 +1100
Subject: [PATCH] Rover: improved loop() latency

---
 APMrover2/APMrover2.pde | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 715d7c625a..e494490459 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -623,10 +623,8 @@ void loop()
 		fast_loopTimeStamp = millis();
 
         scheduler.run(19000U);
-    }
-    if ((timer - fast_loopTimer) <= 19) {
-        // we have plenty of time - be friendly to multi-tasking OSes
-        hal.scheduler->delay(1);
+    } else {
+        hal.scheduler->delay_microseconds(500);
     }
 }