From a45a5f19c79e98768e762eb1178742a3134fc066 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 30 Nov 2022 20:13:07 +0900
Subject: [PATCH] AP_Scheduler: load_average returns 1 if main loop running
 slowly

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index ddeecf84c4..c33464e17d 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -308,6 +308,10 @@ uint16_t AP_Scheduler::time_available_usec(void) const
  */
 float AP_Scheduler::load_average()
 {
+    // return 1 if filtered main loop rate is 5% below the configured rate
+    if (get_filtered_loop_rate_hz() < get_loop_rate_hz() * 0.95) {
+        return 1.0;
+    }
     if (_spare_ticks == 0) {
         return 0.0f;
     }