AP_Scheduler: use task -3 for wait_for_sample()

6 years ago · 4888583e17
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@ -232,7 +232,9 @@ float AP_Scheduler::load_average()
				@@ -232,7 +232,9 @@ float AP_Scheduler::load_average()
 void AP_Scheduler::loop()
 {
    // wait for an INS sample
+    hal.util->persistent_data.scheduler_task = -3;
    AP::ins().wait_for_sample();
+    hal.util->persistent_data.scheduler_task = -1;

    const uint32_t sample_time_us = AP_HAL::micros();