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HAL_PX4: fixed delay_microseconds() on PX4

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we could underflow and delay a very long time!
This commit is contained in:
Andrew Tridgell 2013-10-08 17:27:26 +11:00
parent 9435eb4a15
commit 67db1cedaa
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_HAL_PX4/Scheduler.cpp
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@ -90,8 +90,9 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
}
perf_begin(_perf_delay);
uint32_t start = micros();
while (micros() - start < usec) {
up_udelay(usec - (micros() - start));
uint32_t dt;
while ((dt=(micros() - start)) < usec) {
up_udelay(usec - dt);
}
perf_end(_perf_delay);
}