From c27277c7f194f5f1d32d916c68311106ad934617 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 28 Dec 2011 20:34:59 +1100
Subject: [PATCH] ACM: use new I2C library

---
 ArduCopter/ArduCopter.pde | 2 +-
 ArduCopter/system.pde     | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 7ecf42bbbb..cf9043f71a 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -54,7 +54,7 @@ http://code.google.com/p/ardupilot-mega/downloads/list
 #include <Arduino_Mega_ISR_Registry.h>
 #include <APM_RC.h>         // ArduPilot Mega RC Library
 #include <AP_GPS.h>         // ArduPilot GPS library
-#include <Wire.h>			// Arduino I2C lib
+#include <I2C.h>			// Arduino I2C lib
 #include <SPI.h>			// Arduino SPI lib
 #include <DataFlash.h>      // ArduPilot Mega Flash Memory Library
 #include <AP_ADC.h>         // ArduPilot Mega Analog to Digital Converter Library
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 02de32f048..2ef482272e 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -107,7 +107,8 @@ static void init_ardupilot()
 	// Initialize Wire and SPI libraries
 	//
 #ifndef DESKTOP_BUILD
-    Wire.begin();
+    I2c.begin();
+    I2c.timeOut(20);
 #endif
     SPI.begin();
     SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate