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AP_Scheduler: corrected tick counter overflow handling, fixes #17642

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Tamas Nepusz 2021-06-08 22:44:36 +02:00 committed by Peter Barker
parent ba94d8839f
commit c544f3dd01
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -160,7 +160,7 @@ void AP_Scheduler::run(uint32_t time_available)
for (uint8_t i=0; i<_num_tasks; i++) {
const AP_Scheduler::Task& task = (i < _num_unshared_tasks) ? _tasks[i] : _common_tasks[i - _num_unshared_tasks];
uint32_t dt = _tick_counter - _last_run[i];
const uint16_t dt = _tick_counter - _last_run[i];
// we allow 0 to mean loop rate
uint32_t interval_ticks = (is_zero(task.rate_hz) ? 1 : _loop_rate_hz / task.rate_hz);
if (interval_ticks < 1) {