From 0074894637e3d8ca0c3c75553f37545193090391 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 30 May 2022 10:41:54 +0200
Subject: [PATCH] control_allocator: disable backup schedule with lockstep

The backup schedule triggers updates too early and leads to simulator errors:
ERROR [simulator] poll timeout 0, 22
---
 src/modules/control_allocator/ControlAllocator.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 72451011f9..a90a0da4d7 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -98,7 +98,9 @@ ControlAllocator::init()
 		return false;
 	}
 
+#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
 	ScheduleDelayed(50_ms);
+#endif
 
 	return true;
 }
@@ -296,8 +298,10 @@ ControlAllocator::Run()
 
 	perf_begin(_loop_perf);
 
+#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
 	// Push backup schedule
 	ScheduleDelayed(50_ms);
+#endif
 
 	// Check if parameters have changed
 	if (_parameter_update_sub.updated() && !_armed) {