From 06b272705e65b334cfb79011b69f95a8539d9123 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Aug 2019 17:47:32 +1000
Subject: [PATCH] HAL_ChibiOS: run RCIN thread at 1kHz

this gives fast enough response for SBUS parsing on a UART
---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 38ab3880e5..1af6aac2bb 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -380,7 +380,7 @@ void Scheduler::_rcin_thread(void *arg)
         sched->delay_microseconds(20000);
     }
     while (true) {
-        sched->delay_microseconds(2500);
+        sched->delay_microseconds(1000);
         ((RCInput *)hal.rcin)->_timer_tick();
     }
 }