From 0f4367744f7a02eee4949f81bf7a56b4e2beccbd Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 5 Jul 2016 14:48:59 -0700
Subject: [PATCH] Copter: update precland at 400hz, log at 25hz

---
 ArduCopter/ArduCopter.cpp        | 7 ++++++-
 ArduCopter/precision_landing.cpp | 3 ---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 02dc356612..f25f79adfb 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -102,7 +102,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     SCHED_TASK(compass_accumulate,   100,    100),
     SCHED_TASK(barometer_accumulate,  50,     90),
 #if PRECISION_LANDING == ENABLED
-    SCHED_TASK(update_precland,       50,     50),
+    SCHED_TASK(update_precland,      400,     50),
 #endif
 #if FRAME_CONFIG == HELI_FRAME
     SCHED_TASK(check_dynamic_flight,  50,     75),
@@ -428,6 +428,11 @@ void Copter::twentyfive_hz_logging()
         DataFlash.Log_Write_IMU(ins);
     }
 #endif
+
+#if PRECISION_LANDING == ENABLED
+    // log output
+    Log_Write_Precland();
+#endif
 }
 
 void Copter::dataflash_periodic(void)
diff --git a/ArduCopter/precision_landing.cpp b/ArduCopter/precision_landing.cpp
index 4b4592ad05..10fb230635 100644
--- a/ArduCopter/precision_landing.cpp
+++ b/ArduCopter/precision_landing.cpp
@@ -23,8 +23,5 @@ void Copter::update_precland()
     }
 
     copter.precland.update(final_alt);
-
-    // log output
-    Log_Write_Precland();
 }
 #endif