diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
index c86201a670..c9df6edd36 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
@@ -138,7 +138,7 @@ void VRBRAINScheduler::delay_microseconds_boost(uint16_t usec)
 
 void VRBRAINScheduler::delay(uint16_t ms)
 {
-    if (in_timerprocess()) {
+    if (!in_main_thread()) {
         ::printf("ERROR: delay() from timer process\n");
         return;
     }
@@ -375,6 +375,11 @@ bool VRBRAINScheduler::in_timerprocess()
     return getpid() != _main_task_pid;
 }
 
+bool VRBRAINScheduler::in_main_thread()
+{
+    return getpid() == _main_task_pid;
+}
+
 void VRBRAINScheduler::system_initialized() {
     if (_initialized) {
         AP_HAL::panic("PANIC: scheduler::system_initialized called"