From f46207499aee72b39bd8441ab22c56a66dae8e89 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 7 May 2019 11:59:14 +1000
Subject: [PATCH] Copter: prevent reset on compassmot due to watchdog

---
 ArduCopter/compassmot.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 8e4850565d..e9d3913862 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -124,6 +124,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         interference_pct[i] = 0.0f;
     }
 
+    hal.scheduler->expect_delay_ms(5000);
+
     // enable motors and pass through throttle
     init_rc_out();
     enable_motor_output();
@@ -135,6 +137,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
 
     // main run while there is no user input and the compass is healthy
     while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
+        hal.scheduler->expect_delay_ms(5000);
+
         // 50hz loop
         if (millis() - last_run_time < 20) {
             hal.scheduler->delay(5);
@@ -226,6 +230,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         }
     }
 
+    hal.scheduler->expect_delay_ms(0);
+
     // stop motors
     motors->output_min();
     motors->armed(false);