From 72935345ea32e48a2a7a51cd80831054425572a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 8 Aug 2012 17:36:01 +1000
Subject: [PATCH] ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter

this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
---
 ArduCopter/Parameters.pde | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 7de92adf30..04554b628b 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -358,7 +358,10 @@ const AP_Param::Info var_info[] PROGMEM = {
 static void load_parameters(void)
 {
 	// change the default for the AHRS_GPS_GAIN for ArduCopter
-	ahrs.gps_gain.set(0.0);
+	// if it hasn't been set by the user
+	if (!ahrs.gps_gain.load()) {
+		ahrs.gps_gain.set_and_save(0.0);
+	}
 
 	if (!g.format_version.load() ||
 	    g.format_version != Parameters::k_format_version) {