diydrones/ardupilot — pull request #722 by GAFletcher (2013-12-03 20:02:10+00:00)
Title: Remove redundant calculations when inputs havn't changed 

Remove redundant calculations when inputs havn't changed to the stabilization method. Looks for stick input in RC MODE or a change from . It also doesn't call unless there is new gps data. I used a separate gps_new_data flag for the mount because the normal one was set false elsewhere.

Hope this helps, it seems to work as good as before.