From 17c9cedac18a006f23cbb36f4064f9f20dc94867 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 23 Nov 2013 18:27:12 +1100
Subject: [PATCH] Plane: send out HIL servo updates as soon as we can

this improves the servo responsiveness of HIL a lot
---
 ArduPlane/Attitude.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 1db4c65050..df0ae0fc7e 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -856,6 +856,10 @@ static void set_servos(void)
     }
 
 #if HIL_MODE != HIL_MODE_DISABLED
+    // get the servos to the GCS immediately for HIL
+    if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN) {
+        send_radio_out(MAVLINK_COMM_0);
+    }
     if (!g.hil_servos) {
         return;
     }
@@ -887,7 +891,7 @@ static void set_servos(void)
  #endif
  #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     g.rc_12.output_ch(CH_12);
- # endif
+ #endif
 }
 
 static bool demoing_servos;