From 82b5b94e24f178bfb11907091d459ca163cab5ba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 8 Jan 2018 14:52:11 +1100
Subject: [PATCH] AP_IOMCU: fixed race condition on thread startup

thread_ctx may not be set for first trigger_event()
---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 2a75fab3ce..5f5cff9f72 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -140,6 +140,8 @@ void AP_IOMCU::event_failed(uint8_t event)
  */
 void AP_IOMCU::thread_main(void)
 {
+    thread_ctx = chThdGetSelfX();
+    
     // uart runs at 1.5MBit
     uart.begin(1500*1000, 256, 256);
     uart.set_blocking_writes(false);