progress

firmware/controllers/math/pid.cpp

@@ -118,6 +118,11 @@ void Pid::postState(TunerStudioOutputChannels *tsOutputChannels) {
 }
 #endif
 
+void Pid::sleep() {
+	int period = maxI(10, 10);
+	chThdSleepMilliseconds(period);
+}
+
 void Pid::showPidStatus(Logging *logging, const char*msg, int dTime) {
 	// todo: dTime should be taken from pid_s
 	scheduleMsg(logging, "%s o=%f P=%.5f I=%.5f D=%.5f dT=%d",

firmware/controllers/math/pid.h

@@ -43,6 +43,7 @@ public:
 	float iTerm;
 	float dTerm; // we are remembering this only for debugging purposes
 	void showPidStatus(Logging *logging, const char*msg, int dTime);
+	void sleep();
 private:
 	pid_s *pid;