From 19651373d04c4074d36b55ed86fe08c802920967 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 28 Sep 2013 16:30:41 +1000
Subject: [PATCH] Rover: use new scheduler API

---
 APMrover2/failsafe.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/APMrover2/failsafe.pde b/APMrover2/failsafe.pde
index 196f5b681b..b4086bc02b 100644
--- a/APMrover2/failsafe.pde
+++ b/APMrover2/failsafe.pde
@@ -13,11 +13,12 @@
   this failsafe_check function is called from the core timer interrupt
   at 1kHz.
  */
-void failsafe_check(uint32_t tnow)
+void failsafe_check(void *arg)
 {
     static uint16_t last_mainLoop_count;
     static uint32_t last_timestamp;
     static bool in_failsafe;
+    uint32_t tnow = hal.scheduler->micros();
 
     if (mainLoop_count != last_mainLoop_count) {
         // the main loop is running, all is OK