From fda05ca4d01dbe5123db51a699c8ab08aeceb6fa Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 14 May 2011 04:45:28 +0000
Subject: [PATCH] moved rudder servo control out of 200hz loop to test if it
 will reduce servo noise.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2260 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/ArduCopterMega.pde | 8 ++++++--
 ArduCopterMega/motors.pde         | 3 ---
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index a6b11cde04..f32bc3cdae 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -744,6 +744,12 @@ void fifty_hz_loop()
 	#endif
 	// XXX this should be absorbed into the above,
 	// or be a "GCS fast loop" interface
+
+	// Hack - had to move to 50hz loop to test a theory
+	if(g.frame_type == TRI_FRAME){
+		// servo Yaw
+		APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
+	}
 }
 
 
@@ -1251,8 +1257,6 @@ void update_alt()
 			}
 		}
 
-
-
 		// calculate our altitude
 		if(altitude_sensor == BARO){
 			current_loc.alt = baro_alt + baro_alt_offset + home.alt;
diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index 96236c8369..0167ee1791 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -131,9 +131,6 @@ set_servos_4()
 			// this is a compensation for the angle of the yaw motor. Its linear, but should work ok.
 			//motor_out[CH_4]		+= (float)(abs(g.rc_4.control_in)) * .013;
 
-			// servo Yaw
-			APM_RC.OutputCh(CH_7, g.rc_4.radio_out);
-
 
 		}else if (g.frame_type == HEXAX_FRAME) {
 			//Serial.println("6_FRAME");