pr3440.diff

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index a22a4c0..ecf3856 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -37,7 +37,10 @@ public:
     // register a high priority timer task
     virtual void     register_timer_process(AP_HAL::MemberProc) = 0;
     virtual bool     register_timer_process(AP_HAL::MemberProc proc, uint8_t freq_div)
-                     {register_timer_process(proc); return false;}
+    {
+        register_timer_process(proc);
+        return false;
+    }
 
     // register a low priority IO task
     virtual void     register_io_process(AP_HAL::MemberProc) = 0;
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 64dab96..f7d2de1 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -9,13 +9,13 @@
 #include "Util.h"
 #include "SPIUARTDriver.h"
 #include "RPIOUARTDriver.h"
+#include <algorithm>
 #include <poll.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <errno.h>
 #include <sys/mman.h>
-#include <iostream>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 #include <rpcmem.h>
@@ -52,11 +52,9 @@ extern const AP_HAL::HAL& hal;
 #endif // CONFIG_HAL_BOARD_SUBTYPE
 
 
-Scheduler::Scheduler() :
-    _num_timer_procs(0),
-    _num_timesliced_procs(0),
-    _max_freq_div(0),
-    _timeslices_count(0)
+
+
+Scheduler::Scheduler()
 {}
 
 void Scheduler::_create_realtime_thread(pthread_t *ctx, int rtprio,
@@ -202,16 +200,13 @@ bool Scheduler::register_timer_process(AP_HAL::MemberProc proc,
                                        uint8_t freq_div)
 {
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
-    if (freq_div <= 1) {
-        register_timer_process(proc);
-        return false;
-    } else {
+    if (freq_div > 1) {
         return _register_timesliced_proc(proc, freq_div);
     }
-#else
+    /* fallback to normal timer process */
+#endif
     register_timer_process(proc);
     return false;
-#endif
 }
 
 bool Scheduler::_register_timesliced_proc(AP_HAL::MemberProc proc,
@@ -326,7 +321,7 @@ void Scheduler::_run_timers(bool called_from_timer_thread)
 
     for (i = 0; i < _num_timesliced_procs; i++) {
         if ((_timeslices_count + _timesliced_proc[i].timeslot)
-           % _timesliced_proc[i].freq_div == 0) {
+            % _timesliced_proc[i].freq_div == 0) {
             _timesliced_proc[i].proc();
         }
     }
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 6109173..bf7e35a 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -69,8 +69,7 @@ private:
     volatile bool _in_timer_proc;
     uint8_t _timeslices_count;
 
-    class timesliced_proc {
-        public:
+    struct timesliced_proc {
         AP_HAL::MemberProc proc;
         uint8_t timeslot;
         uint8_t freq_div;