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Copter: move read_AHRS() before run_rate_controllers()

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this ensures the rate controllers use the latest data
This commit is contained in:
Andrew Tridgell 2013-01-11 16:32:40 +11:00
parent f25f1cb3bf
commit b0c710b67f
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/ArduCopter.pde
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@ -1038,13 +1038,6 @@ void loop()
// Main loop - 100hz
static void fast_loop()
{
// run low level rate controllers that only require IMU data
run_rate_controllers();
// write out the servo PWM values
// ------------------------------
set_servos_4();
// IMU DCM Algorithm
// --------------------
read_AHRS();
@ -1053,6 +1046,13 @@ static void fast_loop()
// --------------------------------------------------------------------
update_trig();
// run low level rate controllers that only require IMU data
run_rate_controllers();
// write out the servo PWM values
// ------------------------------
set_servos_4();
// Inertial Nav
// --------------------
read_inertia();