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HAL_ChibiOS: reduced delay time in main loop to 50us 

this allows for faster loop rates, and seems to be enough in testing
This commit is contained in:
Andrew Tridgell 2019-02-18 12:40:50 +11:00
parent 958b1032c5
commit bd47aba5ca
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -198,7 +198,7 @@ static void main_loop()
g_callbacks->loop();
/*
give up 250 microseconds of time if the INS loop hasn't
give up 50 microseconds of time if the INS loop hasn't
called delay_microseconds_boost(), to ensure low priority
drivers get a chance to run. Calling
delay_microseconds_boost() means we have already given up
@ -207,7 +207,7 @@ static void main_loop()
*/
#ifndef HAL_DISABLE_LOOP_DELAY
if (!schedulerInstance.check_called_boost()) {
hal.scheduler->delay_microseconds(250);
hal.scheduler->delay_microseconds(50);
}
#endif
}