From 5398f1a499ad9875094f75c2d4c0d847b9d7ba7b Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 1 Sep 2024 22:11:33 -0500
Subject: [PATCH] AP_HAL_ESP32: move scheduler stats display behind SCHEDDEBUG

It takes ~100ms and causes noticeable control glitches.
---
 libraries/AP_HAL_ESP32/Scheduler.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
index 8b683b6e34dc3..39413f9331b2b 100644
--- a/libraries/AP_HAL_ESP32/Scheduler.cpp
+++ b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -565,7 +565,9 @@ void IRAM_ATTR Scheduler::_main_thread(void *arg)
         sched->delay_microseconds(250);
 
         // run stats periodically
+#ifdef SCHEDDEBUG
         sched->print_stats();
+#endif
         sched->print_main_loop_rate();
 
         if (ESP_OK != esp_task_wdt_reset()) {