From 6bbfe35c73f13ee88e0c9f1ce99fea40cfda42f1 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 11 Aug 2021 19:11:18 +0530
Subject: [PATCH] AP_Logger: do not use AP_Scheduler for AP_Periph builds

---
 libraries/AP_Logger/AP_Logger_Backend.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
index 5421db8ba3..51c658f8e5 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.cpp
+++ b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -674,6 +674,7 @@ bool AP_Logger_RateLimiter::should_log(uint8_t msgid)
         }
     }
 
+#if !defined(HAL_BUILD_AP_PERIPH)
     // if we've already decided on sending this msgid in this tick then use the
     // same decision again
     const uint16_t sched_ticks = AP::scheduler().ticks();
@@ -681,6 +682,7 @@ bool AP_Logger_RateLimiter::should_log(uint8_t msgid)
         return last_return.get(msgid);
     }
     last_sched_count[msgid] = sched_ticks;
+#endif
 
     bool ret = should_log_streaming(msgid);
     if (ret) {