Copter: remove decimator from get_roi_yaw

3drobotics · Feb 3, 2015 · dd465c5 · dd465c5
1 parent 0c4e6c9
commit dd465c5
Showing 1 changed file with 1 addition and 7 deletions.
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
@@ -54,13 +54,7 @@ static float get_pilot_desired_yaw_rate(int16_t stick_angle)
 // should be called at 100hz
 static float get_roi_yaw()
 {
-    static uint8_t roi_yaw_counter = 0;     // used to reduce update rate to 10hz
-
-    roi_yaw_counter++;
-    if (roi_yaw_counter >= 10) {
-        roi_yaw_counter = 0;
-        yaw_look_at_WP_bearing = pv_get_bearing_cd(inertial_nav.get_position(), roi_WP);
-    }
+    yaw_look_at_WP_bearing = pv_get_bearing_cd(inertial_nav.get_position(), roi_WP);
 
     return yaw_look_at_WP_bearing;
 }