From 36cc8329314a430811c1907e6b4f1555b71e4acd Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Wed, 22 Apr 2015 12:04:27 -0700
Subject: [PATCH] Copter: guided_posvel run update_z_controller at 400hz

---
 ArduCopter/control_guided.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 7fccbc2fb2..0804542b85 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -331,9 +331,10 @@ static void guided_posvel_control_run()
 
         // run position controller
         pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler);
-        pos_control.update_z_controller();
     }
 
+    pos_control.update_z_controller();
+
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {
         // roll & pitch from waypoint controller, yaw rate from pilot