From 06bcf0df4b2e00ffa12edee5aecbb0b7571504e9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 11 Apr 2016 09:32:45 +1000
Subject: [PATCH] Plane: change default loop rate for quadplanes to 300Hz

---
 ArduPlane/Parameters.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index d72c18080d..b93d0237c7 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1383,5 +1383,11 @@ void Plane::load_parameters(void)
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
+
+    if (quadplane.enable) {
+        // quadplanes needs a higher loop rate
+        AP_Param::set_default_by_name("SCHED_LOOP_RATE", 300);
+    }
+    
     cliSerial->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }