From edef2ceb56880511a5b4987c11657374f02c88d4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 1 Nov 2021 18:18:52 +1100
Subject: [PATCH] SITL: usleep only on AP_HAL_SITL

---
 libraries/SITL/SIM_Aircraft.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 00f355a336..5c5f9d5f2b 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -40,6 +40,8 @@
 
 using namespace SITL;
 
+extern const AP_HAL::HAL& hal;
+
 /*
   parent class for all simulator types
  */
@@ -281,7 +283,13 @@ void Aircraft::sync_frame_time(void)
     }
     if (sleep_debt_us > min_sleep_time) {
         // sleep if we have built up a debt of min_sleep_tim
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         usleep(sleep_debt_us);
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+        hal.scheduler->delay_microseconds(sleep_debt_us);
+#else
+        // ??
+#endif
         sleep_debt_us -= (get_wall_time_us() - now);
     }
     last_wall_time_us = get_wall_time_us();