Merged Jacob's changes but removed deleted submodules from commit.

ArduSub/ArduSub.cpp

@@ -261,8 +261,10 @@ void Copter::fast_loop()
     // run low level rate controllers that only require IMU data
     attitude_control.rate_controller_run();
     
-    motors.set_forward(channel_forward->control_in);
-    motors.set_strafe(channel_strafe->control_in);
+
+//    moved this to update in control_acro.cpp, control_stabilize.cpp ...
+//    motors.set_forward(channel_forward->control_in);
+//    motors.set_strafe(channel_strafe->control_in);
 
 #if FRAME_CONFIG == HELI_FRAME
     update_heli_control_dynamics();

ArduSub/control_acro.cpp

@@ -47,6 +47,11 @@ void Copter::acro_run()
 
     // output pilot's throttle without angle boost
     attitude_control.set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }
 
 

ArduSub/control_althold.cpp

@@ -158,4 +158,9 @@ void Copter::althold_run()
         pos_control.update_z_controller();
         break;
     }
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }

ArduSub/control_stabilize.cpp

@@ -57,4 +57,9 @@ void Copter::stabilize_run()
 
     // output pilot's throttle
     attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt);
+
+    //control_in is range 0-1000
+    //radio_in is raw pwm value
+    motors.set_forward(channel_forward->radio_in);
+    motors.set_strafe(channel_strafe->radio_in);
 }