From 7649907ec2d44ad34baefc0438f9166580fe197f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 25 Aug 2014 14:55:40 +1000
Subject: [PATCH] Plane: run terrain.update() more often

this provides faster checking of mission waypoints
---
 ArduPlane/ArduPlane.pde | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 02d5b2def8..654aa9feef 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -796,7 +796,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 #if FRSKY_TELEM_ENABLED == ENABLED
     { telemetry_send,        10,    100 },	
 #endif
-
+    { terrain_update,         5,    500 },
 };
 
 // setup the var_info table
@@ -1023,7 +1023,6 @@ static void one_second_loop()
     AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
 
 #if AP_TERRAIN_AVAILABLE
-    terrain.update();
     if (should_log(MASK_LOG_GPS)) {
         terrain.log_terrain_data(DataFlash);
     }
@@ -1048,6 +1047,13 @@ static void compass_save()
     }
 }
 
+static void terrain_update(void)
+{
+#if AP_TERRAIN_AVAILABLE
+    terrain.update();
+#endif
+}
+
 /*
   once a second update the airspeed calibration ratio
  */