From 5ba363b007c8f6931869b1fc00ef3bc03858e372 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Thu, 20 Dec 2012 15:54:19 +0900
Subject: [PATCH] ArduCopter: move gcs_check function (which sends to ground
 station) to run when 50hz loop is not running

Also removed redundant heartbeat message
---
 ArduCopter/ArduCopter.pde | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 145bf4e12b..8e881f971d 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -978,6 +978,9 @@ void loop()
                 gps_fix_count           = 0;
                 perf_mon_counter        = 0;
             }
+        }else{
+            // process communications with the GCS
+            gcs_check();
         }
     } else {
         if (timer - fast_loopTimer < 9000) {
@@ -991,11 +994,6 @@ void loop()
                 compass.accumulate();
             }
         }
-
-        // process communications with the GCS
-        if (timer - fast_loopTimer < 6000) {
-            gcs_check();
-        }
     }
 
 }
@@ -1330,8 +1328,7 @@ static void super_slow_loop()
         auto_disarming_counter = 0;
     }
 
-    gcs_send_message(MSG_HEARTBEAT);
-
+    // agmatthews - USERHOOKS
 #ifdef USERHOOK_SUPERSLOWLOOP
     USERHOOK_SUPERSLOWLOOP
 #endif