Copter: guided calls velocity controller at 400hz

velocity controller internally updates xy-axis at 50hz, z-axis at 400hz
ArduPilot · Nov 18, 2015 · b2b8dcb · b2b8dcb
1 parent c9340db
commit b2b8dcb
Showing 1 changed file with 2 additions and 13 deletions.
diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp
@@ -355,19 +355,8 @@ void Copter::guided_vel_control_run()
         pos_control.set_desired_velocity(Vector3f(0,0,0));
     }
 
-    // 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;
-        }
-
-        // call velocity controller which includes z axis controller
-        pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
-    }
+    // call velocity controller which includes z axis controller
+    pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
 
     // call attitude controller
     if (auto_yaw_mode == AUTO_YAW_HOLD) {