mirror of https://github.com/ArduPilot/ardupilot
Copter: run rate controllers before AHRS/EKF update
This reduces lag between IMU updates and motor outputs by 0.6 milliseconds
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@ -255,14 +255,13 @@ void Copter::loop()
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// Main loop - 400hz
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void Copter::fast_loop()
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{
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// run low level rate controllers that only require IMU data
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attitude_control->rate_controller_run();
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// IMU DCM Algorithm
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// --------------------
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read_AHRS();
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// run low level rate controllers that only require IMU data
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attitude_control->rate_controller_run();
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#if FRAME_CONFIG == HELI_FRAME
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update_heli_control_dynamics();
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#endif //HELI_FRAME
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