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HAL_ChibiOS: fixed monitor thread with no logging

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This commit is contained in:
Andrew Tridgell 2020-11-28 15:18:35 +11:00
parent 2a29b0fcf5
commit 52a90e7a33
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -375,6 +375,7 @@ void Scheduler::_monitor_thread(void *arg)
if (loop_delay >= 200) {
// the main loop has been stuck for at least
// 200ms. Starting logging the main loop state
#ifndef HAL_NO_LOGGING
const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
if (AP_Logger::get_singleton()) {
AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,IErrLn,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIHHHHHII",
@ -390,6 +391,7 @@ void Scheduler::_monitor_thread(void *arg)
pd.spi_count,
pd.i2c_count);
}
#endif
}
if (loop_delay >= 500) {
// at 500ms we declare an internal error