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Copter: move update_flight_mode to fast loop

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Randy Mackay 2014-01-11 17:03:05 +09:00 committed by Andrew Tridgell
parent 0e0a15f4a8
commit 7e37b16ccb
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1069,6 +1069,9 @@ static void fast_loop()
// -------------------- // --------------------
read_inertia(); read_inertia();
// run the attitude controllers
update_flight_mode();
// optical flow // optical flow
// -------------------- // --------------------
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
@ -1087,9 +1090,6 @@ static void rc_loop()
// ----------------------------------------- // -----------------------------------------
read_radio(); read_radio();
read_control_switch(); read_control_switch();
// run the attitude controllers
update_flight_mode();
} }
// throttle_loop - should be run at 50 hz // throttle_loop - should be run at 50 hz