From 536914b2a4a1358a6874d50faa06e97751d7898d Mon Sep 17 00:00:00 2001
From: Kody Stribrny <89810515+kstribrnAmzn@users.noreply.github.com>
Date: Tue, 23 Dec 2025 09:30:36 -0800
Subject: [PATCH] Add catch up behavior to xTaskDelayUntil. (#1348)

Adds an explanation for why xTaskDelayUntil
can break from the configured frequency when
catching up for past events. More will be added
to the website documentation.
---
 include/task.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/include/task.h b/include/task.h
index a25740e3b..8ecfeab0d 100644
--- a/include/task.h
+++ b/include/task.h
@@ -897,7 +897,8 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
  *
  * @return Value which can be used to check whether the task was actually delayed.
  * Will be pdTRUE if the task way delayed and pdFALSE otherwise.  A task will not
- * be delayed if the next expected wake time is in the past.
+ * be delayed if the next expected wake time is in the past. This prevents periodic
+ * tasks from accumulating delays and allows them to resume their regular timing pattern.
  *
  * Example usage:
  * @code{c}