I just wondered why the main loop in the ACM code is only executed at 100Hz
NG code runs at 200Hz (which is slow for a quad)
if you take a look at Aeroquad and Mikrokopter code: they all run at 500Hz
I now that the ADC on APM runs at 400Hz, but I also know that it is capable of 2000Hz readings.
So why not speed the ADC up and let the code run at 200 (or maybe more) Hz ?