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SITL: Scheduler correct misplaced parenthese && switch to do while loop

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This commit is contained in:
Pierre Kancir 2016-12-02 11:16:57 +01:00 committed by Francisco Ferreira
parent 86e495f415
commit f9c8827809
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_HAL_SITL/Scheduler.cpp
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@ -38,14 +38,17 @@ void Scheduler::init()
void Scheduler::delay_microseconds(uint16_t usec)
{
uint64_t start = AP_HAL::micros64();
uint64_t dtime;
while ((dtime=(AP_HAL::micros64() - start) < usec)) {
do {
uint64_t dtime = AP_HAL::micros64() - start;
if (dtime >= usec) {
break;
}
if (_stopped_clock_usec) {
_sitlState->wait_clock(start+usec);
_sitlState->wait_clock(start + usec);
} else {
usleep(usec - dtime);
}
}
} while (true);
}
void Scheduler::delay(uint16_t ms)