From f5fb21b1d7e29c6ca136169b073fb215ca97f835 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Dec 2014 13:59:29 +0900
Subject: [PATCH] Copter: run_nav_updates at 50hz on Pixhawk, 25hz on APM2
Based on work by Jon Challinger (see earlier commit)
---
ArduCopter/ArduCopter.pde | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 8f89997cb..f03d2a5bb 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -801,7 +801,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ arm_motors_check, 40, 1 },
{ auto_trim, 40, 14 },
{ update_altitude, 40, 100 },
- { run_nav_updates, 4, 80 },
+ { run_nav_updates, 8, 80 },
{ update_thr_cruise, 40, 10 },
{ three_hz_loop, 133, 9 },
{ compass_accumulate, 8, 42 },
@@ -869,7 +869,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
{ arm_motors_check, 10, 10 },
{ auto_trim, 10, 140 },
{ update_altitude, 10, 1000 },
- { run_nav_updates, 10, 800 },
+ { run_nav_updates, 4, 800 },
{ update_thr_cruise, 1, 50 },
{ three_hz_loop, 33, 90 },
{ compass_accumulate, 2, 420 },
--
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