Copter: base loop time remaining on variable loop rate

ArduCopter/ArduCopter.cpp

@@ -238,8 +238,9 @@ void Copter::loop()
     // in multiples of the main loop tick. So if they don't run on
     // the first call to the scheduler they won't run on a later
     // call until scheduler.tick() is called again
-    uint32_t time_available = (timer + MAIN_LOOP_MICROS) - micros();
-    scheduler.run(time_available > MAIN_LOOP_MICROS ? 0u : time_available);
+    const uint32_t loop_us = scheduler.get_loop_period_us();
+    const uint32_t time_available = (timer + loop_us) - micros();
+    scheduler.run(time_available > loop_us ? 0u : time_available);
 }
 
 

ArduCopter/config.h

@@ -51,7 +51,6 @@
 // run at 400Hz on all systems
 # define MAIN_LOOP_RATE    400
 # define MAIN_LOOP_SECONDS 0.0025f
-# define MAIN_LOOP_MICROS  2500
 
 #ifndef ARMING_DELAY_SEC
     # define ARMING_DELAY_SEC 2.0f