From 0227c97a99d5fb62b2e827884067ddc672909cab Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
 <tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 17 Jul 2011 10:33:53 +0000
Subject: [PATCH] HIL: don't access dcm functions in HIL mode

the dcm is not valid in HIL_MODE_ATTITUDE

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2894 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/system.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index 14aa190631..77bba9a79e 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -314,8 +314,10 @@ static void startup_ground(void)
 	//*/
 
 	// setup DCM for copters:
+#if HIL_MODE != HIL_MODE_ATTITUDE
 	dcm.kp_roll_pitch(0.12);		// higher for quads
 	dcm.ki_roll_pitch(0.00000319); 	// 1/4 of the normal rate
+#endif
 	//dcm.kp_yaw(0.02);
 	//dcm.ki_yaw(0);