From b8e82a56f36949378e78b1051eb9b9596b94a918 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 4 Feb 2021 09:04:15 +1100
Subject: [PATCH] HAL_ChibiOS: don't start rout ticks till after full system
 init

this prevents an occasional boot hang on systems with DShot
enabled. We shouldn't be starting DShot output till after setup() is
complete as the outputs are still being configured
---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 21978ac27a..be0e10ed60 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -321,7 +321,9 @@ void Scheduler::_timer_thread(void *arg)
         sched->_run_timers();
 
         // process any pending RC output requests
-        hal.rcout->timer_tick();
+        if (sched->is_system_initialized()) {
+            hal.rcout->timer_tick();
+        }
 
         if (sched->in_expected_delay()) {
             sched->watchdog_pat();