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AP_DroneCAN: prevent saturation of CPU with DroneCAN thread

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Andrew Tridgell 2024-09-24 20:51:11 +10:00 committed by Randy Mackay
parent 06e3b2051d
commit 4e008d942c
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -506,6 +506,10 @@ void AP_DroneCAN::loop(void)
continue; continue;
} }
// ensure that the DroneCAN thread cannot completely saturate
// the CPU, preventing low priority threads from running
hal.scheduler->delay_microseconds(100);
canard_iface.process(1); canard_iface.process(1);
safety_state_send(); safety_state_send();