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SITL: usleep only on AP_HAL_SITL

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Peter Barker 2021-11-01 18:18:52 +11:00 committed by Peter Barker
parent b360521d0b
commit edef2ceb56
1 changed files with 8 additions and 0 deletions
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8
libraries/SITL/SIM_Aircraft.cpp
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@ -40,6 +40,8 @@
using namespace SITL; using namespace SITL;
extern const AP_HAL::HAL& hal;
/* /*
parent class for all simulator types parent class for all simulator types
*/ */
@ -281,7 +283,13 @@ void Aircraft::sync_frame_time(void)
} }
if (sleep_debt_us > min_sleep_time) { if (sleep_debt_us > min_sleep_time) {
// sleep if we have built up a debt of min_sleep_tim // sleep if we have built up a debt of min_sleep_tim
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
usleep(sleep_debt_us); usleep(sleep_debt_us);
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
hal.scheduler->delay_microseconds(sleep_debt_us);
#else
// ??
#endif
sleep_debt_us -= (get_wall_time_us() - now); sleep_debt_us -= (get_wall_time_us() - now);
} }
last_wall_time_us = get_wall_time_us(); last_wall_time_us = get_wall_time_us();