From 72d76558a71bf5a54ef6664e1db8d4ad923b797d Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sun, 3 Jun 2012 23:48:45 +0900
Subject: [PATCH] ArduCopter: Ensure update_GPS does nothing when gps is
 disabled.

This fixes a bug in which an APM without a GPS would not work because it would constantly scan for a valid GPS long after it should have given up and moved on.
---
 ArduCopter/ArduCopter.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f615e98e7b..167788aff2 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1331,6 +1331,11 @@ static void update_GPS(void)
 	// A counter that is used to grab at least 10 reads before commiting the Home location
 	static byte ground_start_count	= 10;
 
+	// return immediately if GPS is not enabled
+	if( !GPS_enabled ) {
+		return;
+	}
+
 	g_gps->update();
 	update_GPS_light();