From a0f9055a9d70f0cf98cd543803ddefbd4a3a660e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 28 Sep 2013 16:31:01 +1000
Subject: [PATCH] Copter: use new scheduler API

---
 ArduCopter/failsafe.pde | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/failsafe.pde b/ArduCopter/failsafe.pde
index be76f79ce3..40441daf1d 100644
--- a/ArduCopter/failsafe.pde
+++ b/ArduCopter/failsafe.pde
@@ -31,8 +31,10 @@ void failsafe_disable()
 //
 //  failsafe_check - this function is called from the core timer interrupt at 1kHz.
 //
-void failsafe_check(uint32_t tnow)
+void failsafe_check(void *arg)
 {
+    uint32_t tnow = hal.scheduler->micros();
+
     if (mainLoop_count != failsafe_last_mainLoop_count) {
         // the main loop is running, all is OK
         failsafe_last_mainLoop_count = mainLoop_count;
@@ -56,4 +58,4 @@ void failsafe_check(uint32_t tnow)
             motors.output();
         }
     }
-}
\ No newline at end of file
+}