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Improve pause function work

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Fix disconnecting from qgc while pausing in the simulation. 
Consider total delay time in micros() in simulation to increase t while delaying.
Simplify and get rid of ARDUINO macro check.
This commit is contained in:
Oleg Kalachev
2025-07-12 09:29:47 +03:00
parent fd4bcbeb89
commit 85afe405cb
2 changed files with 5 additions and 6 deletions
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5
gazebo/Arduino.h
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@@ -156,8 +156,11 @@ public:
void restart() { Serial.println("Ignore reboot in simulation"); }
} ESP;
unsigned long __delayTime = 0;
void delay(uint32_t ms) {
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
__delayTime += ms * 1000;
}
bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
@@ -167,5 +170,5 @@ unsigned long __micros;
unsigned long __resetTime = 0;
unsigned long micros() {
return __micros + __resetTime; // keep the time monotonic
return __micros + __resetTime + __delayTime; // keep the time monotonic
}