From 1907d55b2dc8e0b6fbf20740a2a72bce9c8cb1ec Mon Sep 17 00:00:00 2001
From: cfif <cham-zod@mail.ru>
Date: Tue, 28 Apr 2026 15:22:40 +0300
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=BB=D0=B5?=
 =?UTF-8?q?=D0=BD=D0=B8=D0=B5?=
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---
 MainModesArbiter.c | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index e50d7c8..b173466 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -316,12 +316,15 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
 
     env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
-    SystemDelayMs(10);
 
-    LoadDataInFromModel(env);
     ModelTask_StartThread(&env->ModelTask);
 
+    while (!env->ModelTask.isRunning) {
+        LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Waiting for the model to run...")
+        SystemDelayMs(1);
+    }
 
+    LoggerInfoStatic(LOGGER, LOG_TASK_ARB, "Model running...")
 /*
     for (;;) {
         uint16_t len = SerialPortReceive(&env->serialPorts->SerialPortLog_IO, dataR, 1024, 1000);
@@ -440,9 +443,9 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
         LoadDataInFromModel(env);
 
-        SystemDelayMs(50);
+        SystemDelayMs(25);
         GpioPinToggle(&env->gpios->led.LED_G);
-        SystemDelayMs(50);
+        SystemDelayMs(25);
 /*
         if (RGM_SRS_WAKEUP_MASK == (RGM->SRS & RGM_SRS_WAKEUP_MASK)) {
         } else {