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

@@ -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;

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");