Move pilot.fly() back into control loop so the controller will run at

166 Hz instead of 31 Hz. Having a big "wtf was I thinking" moment here.
yoos · May 15, 2012 · c405438 · c405438
1 parent c339933
commit c405438
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/src/flight_controller.cpp b/src/flight_controller.cpp
@@ -48,6 +48,7 @@ int main(void) {
             // Control loop
             // ================================================================
             if (loopCount % CONTROL_LOOP_INTERVAL == 0) {
+                pilot.fly();
                 watchdog.watch(pilot.hasFood);
 
                 /* Don't run system unless armed!
@@ -64,7 +65,7 @@ int main(void) {
                     Timer3.pwm(PMT, TMIN);
                     Timer3.pwm(PMR, TMIN);
                     Timer3.pwm(PML, TMIN);
-                    pwmDevice[SERVO_T].writeMicroseconds(SERVO_US_ZERO);
+                    pwmDevice[SERVO_T].writeMicroseconds(SERVO_NEUTRAL);
 
                     // Check that motor values set by Pilot are within the
                     // arming threshold.
@@ -90,16 +91,14 @@ int main(void) {
                     Timer3.pwm(PMT, TMIN);
                     Timer3.pwm(PMR, TMIN);
                     Timer3.pwm(PML, TMIN);
-                    pwmDevice[SERVO_T].writeMicroseconds(SERVO_US_ZERO);
+                    pwmDevice[SERVO_T].writeMicroseconds(SERVO_NEUTRAL);
                 }
             }
 
             // ================================================================
             // Communications loop
             // ================================================================
             if (loopCount % COMM_LOOP_INTERVAL == 0) {
-                pilot.fly();
-
                 #ifdef SEND_ARM_STATUS
                 sendArmStatus();
                 #endif