From 6f5626d04f184a281f7e544f8bb5d0d59cc54499 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 14 Apr 2021 19:22:27 +1000
Subject: [PATCH] AP_Vehicle: fixed SD card slowdown with early mounts

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index dace5829cb..b5b6f0aa7e 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -6,6 +6,9 @@
 #include <AP_Frsky_Telem/AP_Frsky_Parameters.h>
 #include <AP_Mission/AP_Mission.h>
 #include <AP_OSD/AP_OSD.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include <AP_HAL_ChibiOS/sdcard.h>
+#endif
 
 #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
 
@@ -86,6 +89,14 @@ void AP_Vehicle::setup()
 
     load_parameters();
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    if (AP_BoardConfig::get_sdcard_slowdown() != 0) {
+        // user wants the SDcard slower, we need to remount
+        sdcard_stop();
+        sdcard_retry();
+    }
+#endif
+
     // initialise the main loop scheduler
     const AP_Scheduler::Task *tasks;
     uint8_t task_count;