From 7820d96f4c93b91ec334ec8c7cac20ec730f0d0b Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 23 Dec 2011 14:22:44 -0800
Subject: [PATCH] No longer blocking before initing home

---
 ArduCopter/commands.pde | 13 +------------
 1 file changed, 1 insertion(+), 12 deletions(-)

diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 1f2baa1207..954cfa7c62 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -192,20 +192,9 @@ static void set_next_WP(struct Location *wp)
 static void init_home()
 {
 	home_is_set = true;
-
-	// block until we get a good fix
-	// -----------------------------
-	while (!g_gps->new_data || !g_gps->fix) {
-		g_gps->update();
-        // we need GCS update while waiting for GPS, to ensure
-        // we react to HIL mavlink
-        gcs_update();
-	}
-
 	home.id 	= MAV_CMD_NAV_WAYPOINT;
 	home.lng 	= g_gps->longitude;				// Lon * 10**7
 	home.lat 	= g_gps->latitude;				// Lat * 10**7
-	//home.alt 	= max(g_gps->altitude, 0);		// we sometimes get negatives from GPS, not valid
 	home.alt 	= 0;							// Home is always 0
 
 	// to point yaw towards home until we set it with Mavlink
@@ -220,7 +209,7 @@ static void init_home()
 	// Save prev loc this makes the calcs look better before commands are loaded
 	prev_WP = home;
 
-	//
+	// in case we RTL
 	next_WP = home;
 
 	// Load home for a default guided_WP