Copter: run guided velocity control at main loop rate

ArduCopter/mode_guided.cpp

@@ -536,8 +536,6 @@ void Copter::ModeGuided::posvel_control_run()
     // calculate dt
     float dt = pos_control->time_since_last_xy_update();
 
-    // update at poscontrol update rate
-    if (dt >= pos_control->get_dt_xy()) {
     // sanity check dt
     if (dt >= 0.2f) {
         dt = 0.0f;
@@ -550,10 +548,8 @@ void Copter::ModeGuided::posvel_control_run()
     pos_control->set_pos_target(guided_pos_target_cm);
     pos_control->set_desired_velocity_xy(guided_vel_target_cms.x, guided_vel_target_cms.y);
 
-        // run position controller
+    // run position controllers
     pos_control->update_xy_controller(ekfNavVelGainScaler);
-    }
-
     pos_control->update_z_controller();
 
     // call attitude controller