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Sub: Run rate controllers before AHRS/EKF update

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This commit is contained in:
Jacob Walser 2017-03-06 14:01:02 -05:00 committed by Randy Mackay
parent 8a24b074f7
commit 4a3917a349
1 changed files with 4 additions and 5 deletions
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9
ArduSub/ArduSub.cpp
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@ -172,16 +172,15 @@ void Sub::loop()
// Main loop - 400hz
void Sub::fast_loop()
{
// IMU DCM Algorithm
// --------------------
read_AHRS();
if (control_mode != MANUAL) { //don't run rate controller in manual mode
// run low level rate controllers that only require IMU data
attitude_control.rate_controller_run();
}
// IMU DCM Algorithm
// --------------------
read_AHRS();
// send outputs to the motors library
motors_output();