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Recent kernels have more jitter in nanosleep(). Account for that.
o Use a larger allowance for jitter, with the final microseconds to be manually inched towards with busy wait. Only do this on Pi2 or 3 where we have a core to burn. o Always disable realtime throttling for Pi2 and 3 now (used to be an optional parameter), because now we are more likely to hit 100% core utilization. Should fix #483
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