From efae9dddd5909a21204711b7b60a40a4bccf18ed Mon Sep 17 00:00:00 2001 From: "tridge60@gmail.com" Date: Tue, 19 Jul 2011 09:49:57 +0000 Subject: [PATCH] HIL: we only need 50Hz attitude for HIL putting it in the fastest loop clogged up mavlink too much git-svn-id: https://arducopter.googlecode.com/svn/trunk@2923 f9c3cf11-9bcb-44bc-f272-b75c42450872 --- ArduCopterMega/ArduCopterMega.pde | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde index d09513cc8c..eb047a33c4 100644 --- a/ArduCopterMega/ArduCopterMega.pde +++ b/ArduCopterMega/ArduCopterMega.pde @@ -598,11 +598,6 @@ static void fast_loop() // record throttle output // ------------------------------ throttle_integrator += g.rc_3.servo_out; - - #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED - // HIL for a copter needs very fast update of the servo values - hil.send_message(MSG_RADIO_OUT); - #endif } static void medium_loop() @@ -771,6 +766,11 @@ static void medium_loop() // --------------------------- static void fifty_hz_loop() { + #if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK && HIL_MODE != HIL_MODE_DISABLED + // HIL for a copter needs very fast update of the servo values + hil.send_message(MSG_RADIO_OUT); + #endif + // use Yaw to find our bearing error calc_bearing_error();