From 8dc6b758f39dff98ea59da97c99536999db30f51 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 5 Nov 2013 14:41:24 +1100
Subject: [PATCH] HAL_PX4: switch to delay_microseconds_semaphore() for UART
 timer

this may prevent some timing jitter on the GPS UARTs
---
 libraries/AP_HAL_PX4/Scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 1e35bf6c66..795910f74e 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -276,7 +276,7 @@ void *PX4Scheduler::_uart_thread(void)
         poll(NULL, 0, 1);        
     }
     while (!_px4_thread_should_exit) {
-        poll(NULL, 0, 1);
+        delay_microseconds_semaphore(1000);
 
         // process any pending serial bytes
         ((PX4UARTDriver *)hal.uartA)->_timer_tick();