From 715f117d4b18a382baaa18abf7be410ef879ab73 Mon Sep 17 00:00:00 2001
From: Jaaaky <43599380+Jaaaky@users.noreply.github.com>
Date: Tue, 30 Apr 2019 21:37:02 +0300
Subject: [PATCH] AP_InertialSensor: fix accelcalsimple watchdog

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 5fd4c5f6e8..a75430b8ff 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1848,6 +1848,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
 
+    hal.scheduler->expect_delay_ms(20000);
     // record we are calibrating
     _calibrating = true;
 
@@ -1987,6 +1988,8 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
     // stop flashing leds
     AP_Notify::flags.initialising = false;
 
+    hal.scheduler->expect_delay_ms(0);
+
     return result;
 }