Copter: don't sleep in rate loop in SITL

ArduPilot · Feb 11, 2024 · 5bc2b1b · 5bc2b1b
1 parent 3e20746
commit 5bc2b1b
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -29,8 +29,11 @@ void Copter::rate_controller_thread()
         // run the rate controller
         attitude_control->rate_controller_run_dt(dt);
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
         // ensure we give at least some CPU to other threads
+        // don't sleep on SITL where small sleeps are not possible
         hal.scheduler->delay_microseconds(200);
+#endif
 
         if (is_zero(dt_avg)) {
                 dt_avg = dt;