From 678947c65dc99b89ffc0a6fcc685fd3bf03b39a3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 14 Dec 2012 09:57:46 +1100
Subject: [PATCH] Plane: more fixes for SITL and new AP_Param startup

---
 ArduPlane/ArduPlane.pde   | 10 +++++++---
 ArduPlane/GCS_Mavlink.pde |  6 +++---
 ArduPlane/Parameters.pde  |  2 +-
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 05973944dd..d2c7114b1c 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -151,6 +151,7 @@ static AP_ADC_ADS7844 adc;
  # if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 AP_Baro_BMP085_HIL barometer;
 AP_Compass_HIL compass;
+AP_InertialSensor_Stub ins;
  #else
 
   #if CONFIG_BARO == AP_BARO_BMP085
@@ -190,7 +191,7 @@ AP_GPS_None     g_gps_driver(NULL);
 
  # if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
 AP_InertialSensor_MPU6000 ins;
- # else
+ # elif CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
 AP_InertialSensor_Oilpan ins( &adc );
  #endif // CONFIG_INS_TYPE
 
@@ -643,11 +644,14 @@ AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
 // Top-level logic
 ////////////////////////////////////////////////////////////////////////////////
 
+// setup the var_info table
+AP_Param param_loader(var_info, WP_START_BYTE);
+
 void setup() {
     cliSerial = hal.console;
 
-    // setup the default values of variables listed in var_info[]
-    AP_Param::setup_sketch_defaults(var_info, WP_START_BYTE);
+    // load the default values of variables listed in var_info[]
+    AP_Param::setup_sketch_defaults();
 
     rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE, 0.25);
 
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 294fbb1a0a..1d7c9344a9 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -446,7 +446,7 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
         ahrs.get_error_yaw());
 }
 
-#ifdef DESKTOP_BUILD
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 // report simulator state
 static void NOINLINE send_simstate(mavlink_channel_t chan)
 {
@@ -459,7 +459,7 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
     mavlink_msg_hwstatus_send(
         chan,
         board_voltage(),
-#ifdef DESKTOP_BUILD
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
         0);
 #else
         hal.i2c->lockup_count());
@@ -642,7 +642,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         break;
 
     case MSG_SIMSTATE:
-#ifdef DESKTOP_BUILD
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
         CHECK_PAYLOAD_SIZE(SIMSTATE);
         send_simstate(chan);
 #endif
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 637c16c16a..1b8ad2a360 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -684,7 +684,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECT(camera_mount2,           "MNT2_",       AP_Mount),
 #endif
 
-#ifdef DESKTOP_BUILD
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
     // @Group: SIM_
     // @Path: ../libraries/SITL/SITL.cpp
     GOBJECT(sitl, "SIM_", SITL),