From 87ed39ea46aa596136c3214abfed036078e1da31 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 30 Mar 2012 17:06:03 +1100
Subject: [PATCH] APM: use set_blocking_writes(false) when we have done ground
 start

---
 ArduPlane/system.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index cb34a528b0..3a856b827c 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -340,6 +340,14 @@ static void startup_ground(void)
 	// -----------------------
 	demo_servos(3);
 
+    // we don't want writes to the serial port to cause us to pause
+    // mid-flight, so set the serial ports non-blocking once we are
+    // ready to fly
+    Serial.set_blocking_writes(false);
+    if (gcs3.initialised) {
+        Serial3.set_blocking_writes(false);
+    }
+
 	gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
 }