From bc2f5fa33b37ffd65ce4aaa9bcff3b43238fa362 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 11 May 2019 18:18:21 +1000
Subject: [PATCH] ArduCopter: use EXPECT_DELAY() macro

---
 ArduCopter/compassmot.cpp | 6 ++----
 ArduCopter/motor_test.cpp | 3 +++
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index e9d3913862..428ea3dfef 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -124,7 +124,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         interference_pct[i] = 0.0f;
     }
 
-    hal.scheduler->expect_delay_ms(5000);
+    EXPECT_DELAY(hal, 5000);
 
     // enable motors and pass through throttle
     init_rc_out();
@@ -137,7 +137,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
 
     // main run while there is no user input and the compass is healthy
     while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
-        hal.scheduler->expect_delay_ms(5000);
+        EXPECT_DELAY(hal, 5000);
 
         // 50hz loop
         if (millis() - last_run_time < 20) {
@@ -230,8 +230,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         }
     }
 
-    hal.scheduler->expect_delay_ms(0);
-
     // stop motors
     motors->output_min();
     motors->armed(false);
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index a0138a0e18..6b0e573125 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -25,6 +25,8 @@ void Copter::motor_test_output()
         return;
     }
 
+    EXPECT_DELAY(hal, 2000);
+
     // check for test timeout
     uint32_t now = AP_HAL::millis();
     if ((now - motor_test_start_ms) >= motor_test_timeout_ms) {
@@ -146,6 +148,7 @@ MAV_RESULT Copter::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t moto
             // start test
             ap.motor_test = true;
 
+            EXPECT_DELAY(hal, 3000);
             // enable and arm motors
             if (!motors->armed()) {
                 init_rc_out();