From 59758122e18075831aa568881e01b2918173aa3a Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 12 Sep 2010 02:54:51 +0000
Subject: [PATCH] AHRS: Cannot process messages while idling as this makes the
 main loop execution time non-deterministic based on OP (i.e. could get three
 messages and push the time up).  It would be a nice featuer since you can get
 a raw and EKF update in the same step, but if the AHRS_Comm loop is fast
 (which is should be to keep update latency low) then this will hammer the
 AHRS with redunant requests.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1594 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index e52795538..d27d9e40f 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -325,7 +325,7 @@ int main()
         idle_counter = 0;
         do {
             idle_counter ++;
-            process_spi_request();
+            //process_spi_request();
         } while ( ahrs_state != AHRS_DATA_READY );
         
         ahrs_state = AHRS_PROCESSING;