From 54cbf8ea9ea30b7a9a4f9a05a414a554e5cae64d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Apr 2019 09:29:01 +1000
Subject: [PATCH] HAL_ChibiOS: change to 2s timeout on watchdog

a bit more of a safety net against false positives for stable release
---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp   | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 53786048f7..6949c013a3 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -231,7 +231,7 @@ static void main_loop()
         static bool done_pause;
         if (!done_pause && AP_HAL::millis() > 20000) {
             done_pause = true;
-            while (AP_HAL::millis() < 22000) ;
+            while (AP_HAL::millis() < 22200) ;
         }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c b/libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c
index 96e341ce2b..8dd7918e64 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/watchdog.c
@@ -59,9 +59,9 @@ static bool watchdog_enabled;
  */
 void stm32_watchdog_init(void)
 {
-    // setup for 1s reset
+    // setup for 2s reset
     IWDGD.KR = 0x5555;
-    IWDGD.PR = 8;
+    IWDGD.PR = 16;
     IWDGD.RLR = 0xFFF;
     IWDGD.KR = 0xCCCC;
     watchdog_enabled = true;