Sub: cork SRV_Channels for improved performance

ArduPilot · Jun 27, 2024 · d460851 · d460851
1 parent 86f5b6a
commit d460851
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diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
@@ -161,7 +161,9 @@ void Sub::fifty_hz_loop()
     // Update rc input/output
     rc().read_input();
     SRV_Channels::calc_pwm();
+    SRV_Channels::cork();
     SRV_Channels::output_ch_all();
+    SRV_Channels::push();
 }
 
 // update_batt_compass - read battery and compass

diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
@@ -18,7 +18,9 @@ void Sub::motors_output()
         verify_motor_test();
     } else {
         motors.set_interlock(true);
+        SRV_Channels::cork();
         motors.output();
+        SRV_Channels::push();
     }
 }