From 6b841e781c2c63c875de1200503e6acdbc2e3a21 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 21 Oct 2019 09:10:27 +1100
Subject: [PATCH] HAL_ChibiOS: pat watchdog immediately in expect_delay_ms()

this fixes a watchdog issue on AP_Periph if we don't have a timer
thread
---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 2468cccaa0..90d7007482 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -543,6 +543,10 @@ void Scheduler::expect_delay_ms(uint32_t ms)
         // only for main thread
         return;
     }
+
+    // pat once immediately
+    watchdog_pat();
+
     if (ms == 0) {
         if (expect_delay_nesting > 0) {
             expect_delay_nesting--;