Copter: move update_flight_mode to fast loop

11 years ago · 7e37b16ccb
1 changed files with 3 additions and 3 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -1069,6 +1069,9 @@ static void fast_loop()
				@@ -1069,6 +1069,9 @@ static void fast_loop()
    // --------------------
    read_inertia();

+    // run the attitude controllers
+    update_flight_mode();
+
    // optical flow
    // --------------------
 #if OPTFLOW == ENABLED
@ -1087,9 +1090,6 @@ static void rc_loop()
				@@ -1087,9 +1090,6 @@ static void rc_loop()
    // -----------------------------------------
    read_radio();
    read_control_switch();
-
-    // run the attitude controllers
-    update_flight_mode();
 }

 // throttle_loop - should be run at 50 hz