From 756a5b005253b1dafdb0bc699e5b18fc54a311f0 Mon Sep 17 00:00:00 2001 From: "tridge60@gmail.com" Date: Sun, 6 Mar 2011 09:36:03 +0000 Subject: [PATCH] HIL: we need very fast update of motor controls for HIL When doing HIL with a copter you need to update the controls very rapidly, much more so than with a plane. This puts the update in the fast loop git-svn-id: https://arducopter.googlecode.com/svn/trunk@1749 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/ArduCopterMega.pde | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde index 9a0346ed25..60fe54572e 100644 --- a/ArduCopterMega/ArduCopterMega.pde +++ b/ArduCopterMega/ArduCopterMega.pde @@ -481,6 +481,11 @@ void fast_loop() // write out the servo PWM values // ------------------------------ set_servos_4(); + +#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK + // HIL for a copter needs very fast update of the servo values + gcs.send_message(MSG_RADIO_OUT); +#endif } void medium_loop()