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HAL_Linux: reduce delay(ms) jitter #26195

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merged 1 commit into from Feb 25, 2024
Merged

HAL_Linux: reduce delay(ms) jitter #26195

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13 changes: 9 additions & 4 deletions libraries/AP_HAL_Linux/Scheduler.cpp
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Expand Up @@ -173,15 +173,20 @@ void Scheduler::delay(uint16_t ms)
return;
}

uint64_t start = AP_HAL::millis64();
if (ms == 0) {
return;
}

while ((AP_HAL::millis64() - start) < ms) {
uint64_t now = AP_HAL::micros64();
uint64_t end = now + 1000UL * ms + 1U;
do {
// this yields the CPU to other apps
microsleep(1000);
microsleep(MIN(1000UL, end-now));
if (in_main_thread() && _min_delay_cb_ms <= ms) {
call_delay_cb();
}
}
now = AP_HAL::micros64();
} while (now < end);
}

void Scheduler::delay_microseconds(uint16_t us)
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