Rover: be friendly to multi-tasking OSes

2013-09-28 20:10:06 +10:00 · 2013-09-28 20:10:06 +10:00 · 0c99a1bbbb
commit 0c99a1bbbb
parent f68778d453
1 changed files with 4 additions and 0 deletions
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@ -629,6 +629,10 @@ void loop()

        scheduler.run(19000U);
    }
+    if ((timer - fast_loopTimer) <= 19) {
+        // we have plenty of time - be friendly to multi-tasking OSes
+        hal.scheduler->delay(1);
+    }
 }

 // Main loop 50Hz