From c544f3dd017c5edd164ad018bf6c7d3a3f4e328e Mon Sep 17 00:00:00 2001
From: Tamas Nepusz <ntamas@gmail.com>
Date: Tue, 8 Jun 2021 22:44:36 +0200
Subject: [PATCH] AP_Scheduler: corrected tick counter overflow handling, fixes
 #17642

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index a4759e483f..9b754b86fc 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -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) {