Sub: move servo calc logic to motors_output() and cork SRV_Channels f…

…or improved performance
bnsgeyer · Jun 28, 2024 · 2b60e93 · 2b60e93
1 parent b0d89c6
commit 2b60e93
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
@@ -158,10 +158,7 @@ void Sub::fifty_hz_loop()
 
     failsafe_sensors_check();
 
-    // Update rc input/output
     rc().read_input();
-    SRV_Channels::calc_pwm();
-    SRV_Channels::output_ch_all();
 }
 
 // update_batt_compass - read battery and compass

diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
@@ -18,7 +18,11 @@ void Sub::motors_output()
         verify_motor_test();
     } else {
         motors.set_interlock(true);
+        SRV_Channels::cork();
+        SRV_Channels::calc_pwm();
+        SRV_Channels::output_ch_all();
         motors.output();
+        SRV_Channels::push();
     }
 }