From 71f8166818264534a0579cda8688c91c3b9707f1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 19 Nov 2012 11:56:46 +1100
Subject: [PATCH] autotest: fix a race condition with baro noise on startup

we need to wait for a full GPS fix
---
 Tools/autotest/arduplane.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 7f3292490c..2b4f33e0c7 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -289,8 +289,10 @@ def fly_ArduPlane(viewerip=None):
         print("Setting up RC parameters")
         setup_rc(mavproxy)
         print("Waiting for GPS fix")
-        mav.recv_match(condition='VFR_HUD.alt>0', blocking=True)
+        mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
         mav.wait_gps_fix()
+        while mav.location().alt < 10:
+            mav.wait_gps_fix()
         homeloc = mav.location()
         print("Home location: %s" % homeloc)
         if not takeoff(mavproxy, mav):