From ce9e9d8670042a333d3d4449b0bde40751b073b2 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 7 May 2019 11:58:47 +1000 Subject: [PATCH] HAL_ChibiOS: end scheduler boost on expected delay we want timer thread to be higher priority than main thread while in a long operation --- libraries/AP_HAL_ChibiOS/Scheduler.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp index a8b898b6e1..8497ad9a8c 100644 --- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp +++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp @@ -497,6 +497,9 @@ void Scheduler::expect_delay_ms(uint32_t ms) } else { expect_delay_start = AP_HAL::millis(); expect_delay_length = ms; + + // also put our priority below timer thread if we are boosted + boost_end(); } }