From b829384fdff4fd5184728903c205ad1e30967bb3 Mon Sep 17 00:00:00 2001
From: chobits <chobits@itri.org.tw>
Date: Wed, 8 Apr 2020 14:58:10 +0800
Subject: [PATCH] AP_Logger: constraints time spended in header writing

---
 libraries/AP_Logger/LoggerMessageWriter.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Logger/LoggerMessageWriter.cpp b/libraries/AP_Logger/LoggerMessageWriter.cpp
index a27de642f0..750579dab8 100644
--- a/libraries/AP_Logger/LoggerMessageWriter.cpp
+++ b/libraries/AP_Logger/LoggerMessageWriter.cpp
@@ -1,5 +1,6 @@
 #include "AP_Common/AP_FWVersion.h"
 #include "LoggerMessageWriter.h"
+#include <AP_Scheduler/AP_Scheduler.h>
 
 #define FORCE_VERSION_H_INCLUDE
 #include "ap_version.h"
@@ -35,6 +36,9 @@ void LoggerMessageWriter_DFLogStart::reset()
 
 void LoggerMessageWriter_DFLogStart::process()
 {
+    if (AP::scheduler().time_available_usec() < 200) {
+        return;
+    }
     switch(stage) {
     case Stage::FORMATS:
         // write log formats so the log is self-describing