Copter: update precland at 400hz, log at 25hz

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)

ArduCopter/precision_landing.cpp

@@ -23,8 +23,5 @@ void Copter::update_precland()
     }
 
     copter.precland.update(final_alt);
-
-    // log output
-    Log_Write_Precland();
 }
 #endif