diydrones/ardupilot — pull request #1694 by jschall (2014-12-17 23:31:01+00:00)
Title: AC_PosControl: remove various APM-specific timing hacks

This fixes the velocity controller and eliminates xy_step.

Test coverage:
- Ensured that SITL flies
- Ensured that poscontrol was being called at 50hz in auto, loiter, and circle.