From ed6a8b41fc2c99b440cf0f06e23a43a5aca1f881 Mon Sep 17 00:00:00 2001
From: kirkscheper <kirkscheper@gmail.com>
Date: Wed, 27 Jun 2018 13:54:53 +0200
Subject: [PATCH] [multithreading] kill unnessesary program on bebop

---
 sw/airborne/boards/bebop/board.c        | 3 +++
 sw/airborne/firmwares/rotorcraft/main.c | 6 ++++--
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/sw/airborne/boards/bebop/board.c b/sw/airborne/boards/bebop/board.c
index 2dd784b60d7..ef6fac225f9 100644
--- a/sw/airborne/boards/bebop/board.c
+++ b/sw/airborne/boards/bebop/board.c
@@ -121,6 +121,9 @@ void board_init(void)
   int ret __attribute__((unused)) = system("killall -q -15 DragonStarter.sh");
   usleep(50000); /* Give DragonStarter 50ms time to end on a busy system */
   kill_gracefull("dragon-prog");
+#if PRIMARY_GPS == GPS_DATALINK
+  kill_gracefull("ephemerisd");
+#endif
 }
 
 void board_init2(void)
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index be2d7a26c92..0f01c49cef6 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -36,6 +36,8 @@
 
 #include "mcu_periph/sys_time.h"
 
+#define POLLING_PERIOD (500000/PERIODIC_FREQUENCY)
+#include <stdio.h>
 #ifndef SITL
 int main(void)
 {
@@ -58,8 +60,8 @@ int main(void)
 
     /* sleep remaining time to limit to 1kHz */
     t_diff = get_sys_time_usec() - t_begin;
-    if (t_diff < 1000) {
-      sys_time_usleep(1000 - t_diff);
+    if (t_diff < POLLING_PERIOD) {
+      sys_time_usleep(POLLING_PERIOD - t_diff);
     }
   }
 #else