Copter: send extended status to GCS only after initialisation

ArduCopter/ArduCopter.pde

@@ -388,6 +388,7 @@ static union {
         uint8_t rc_receiver_present : 1; // 14  // true if we have an rc receiver present (i.e. if we've ever received an update
         uint8_t compass_mot         : 1; // 15  // true if we are currently performing compassmot calibration
         uint8_t motor_test          : 1; // 16  // true if we are currently performing the motors test
+        uint8_t initialised         : 1; // 17  // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
     };
     uint32_t value;
 } ap;

ArduCopter/GCS_Mavlink.pde

@@ -481,10 +481,14 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         break;
 
     case MSG_EXTENDED_STATUS1:
-        CHECK_PAYLOAD_SIZE(SYS_STATUS);
-        send_extended_status1(chan);
-        CHECK_PAYLOAD_SIZE(POWER_STATUS);
-        gcs[chan-MAVLINK_COMM_0].send_power_status();
+        // send extended status only once vehicle has been initialised
+        // to avoid unnecessary errors being reported to user
+        if (ap.initialised) {
+            CHECK_PAYLOAD_SIZE(SYS_STATUS);
+            send_extended_status1(chan);
+            CHECK_PAYLOAD_SIZE(POWER_STATUS);
+            gcs[chan-MAVLINK_COMM_0].send_power_status();
+        }
         break;
 
     case MSG_EXTENDED_STATUS2:

ArduCopter/system.pde

@@ -295,6 +295,9 @@ static void init_ardupilot()
     }
 
     cliSerial->print_P(PSTR("\nReady to FLY "));
+
+    // flag that initialisation has completed
+    ap.initialised = true;
 }