From 5fc071f5f9bf25ccc14efa60498f6bbb9bc49889 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 21 Apr 2014 21:45:26 +0900
Subject: [PATCH] Copter: restore SITL to run at 100hz

---
 ArduCopter/config.h | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 9d8070b11f..2c4b29fe2e 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -100,14 +100,16 @@
  # define OPTFLOW DISABLED
 #endif
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
- # define MAIN_LOOP_RATE    400
- # define MAIN_LOOP_SECONDS 0.0025
- # define MAIN_LOOP_MICROS  2500
-#else
+#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+ // low power CPUs (APM1, APM2 and SITL)
  # define MAIN_LOOP_RATE    100
  # define MAIN_LOOP_SECONDS 0.01
  # define MAIN_LOOP_MICROS  10000
+#else
+ // high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
+ # define MAIN_LOOP_RATE    400
+ # define MAIN_LOOP_SECONDS 0.0025
+ # define MAIN_LOOP_MICROS  2500
 #endif
 
 //////////////////////////////////////////////////////////////////////////////