From fae45b29fab15306d65dc9d7a2ee96addf35807b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 19 Aug 2014 19:25:08 +1000
Subject: [PATCH] AP_InertialSensor: fixed timer bug in HIL sensors

---
 libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
index d50691c40..bbb5e8d8e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
@@ -63,7 +63,7 @@ bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms)
     if (_sample_available()) {
         return true;
     }
-    uint32_t start = hal.scheduler->micros();
+    uint32_t start = hal.scheduler->millis();
     while ((hal.scheduler->millis() - start) < timeout_ms) {
         uint32_t tnow = hal.scheduler->micros();
         uint32_t tdelay = (_last_sample_usec + _sample_period_usec) - tnow;
-- 
GitLab