ardupilot/ArduCopter/UserCode.cpp

#include "Copter.h"

#ifdef USERHOOK_INIT
void Copter::userhook_init()
{
    // put your initialisation code here
    // this will be called once at start-up
}
#endif

#ifdef USERHOOK_FASTLOOP
void Copter::userhook_FastLoop()
{
    // put your 100Hz code here
}
#endif

#ifdef USERHOOK_50HZLOOP
void Copter::userhook_50Hz()
{
    // put your 50Hz code here
}
#endif

#ifdef USERHOOK_MEDIUMLOOP
void Copter::userhook_MediumLoop()
{
    // put your 10Hz code here
}
#endif

#ifdef USERHOOK_SLOWLOOP
void Copter::userhook_SlowLoop()
{
    // put your 3.3Hz code here
}
#endif

#ifdef USERHOOK_SUPERSLOWLOOP
void Copter::userhook_SuperSlowLoop()
{
    // put your 1Hz code here
}
#endif