From d362bb45fdb7c0a94515d84b134c7957c317cf77 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 19 Dec 2013 14:12:19 +0900
Subject: [PATCH] Copter: move sensor init from setup(to init_ardupilot

This fixes a bug in which the external led was not being disabled if the
EPM was enabled (they share pins).  The cause of the problem was the EPM
was being initialised before it's parameters had been loaded
---
 ArduCopter/ArduCopter.pde | 32 --------------------------------
 ArduCopter/system.pde     | 36 ++++++++++++++++++++++++++++++++++--
 2 files changed, 34 insertions(+), 34 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a019de1c36..a4c433615c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -909,8 +909,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 
 void setup() {
 
-    bool enable_external_leds = true;
-
     // this needs to be the first call, as it fills memory with
     // sentinel values
     memcheck_init();
@@ -919,36 +917,6 @@ void setup() {
     // Load the default values of variables listed in var_info[]s
     AP_Param::setup_sketch_defaults();
 
-    // init EPM cargo gripper
-#if EPM_ENABLED == ENABLED
-    epm.init();
-    enable_external_leds = !epm.enabled();
-#endif
-
-    // initialise notify system
-    // disable external leds if epm is enabled because of pin conflict on the APM
-    notify.init(enable_external_leds);
-
-    // initialise battery monitor
-    battery.init();
-    
-#if CONFIG_SONAR == ENABLED
- #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
-    sonar_analog_source = new AP_ADC_AnalogSource(
-            &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
- #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
-    sonar_analog_source = hal.analogin->channel(
-            CONFIG_SONAR_SOURCE_ANALOG_PIN);
- #else
-  #warning "Invalid CONFIG_SONAR_SOURCE"
- #endif
-    sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
-            &sonar_mode_filter);
-#endif
-
-    rssi_analog_source      = hal.analogin->channel(g.rssi_pin);
-    board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
-
     init_ardupilot();
 
     // initialise the main loop scheduler
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index ee83abe7ae..55e3c46bd8 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -120,11 +120,43 @@ static void init_ardupilot()
     //
     report_version();
 
-    relay.init();
-
     // load parameters from EEPROM
     load_parameters();
 
+    relay.init();
+
+    bool enable_external_leds = true;
+
+    // init EPM cargo gripper
+#if EPM_ENABLED == ENABLED
+    epm.init();
+    enable_external_leds = !epm.enabled();
+#endif
+
+    // initialise notify system
+    // disable external leds if epm is enabled because of pin conflict on the APM
+    notify.init(enable_external_leds);
+
+    // initialise battery monitor
+    battery.init();
+    
+#if CONFIG_SONAR == ENABLED
+ #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
+    sonar_analog_source = new AP_ADC_AnalogSource(
+            &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
+ #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
+    sonar_analog_source = hal.analogin->channel(
+            CONFIG_SONAR_SOURCE_ANALOG_PIN);
+ #else
+  #warning "Invalid CONFIG_SONAR_SOURCE"
+ #endif
+    sonar = new AP_RangeFinder_MaxsonarXL(sonar_analog_source,
+            &sonar_mode_filter);
+#endif
+
+    rssi_analog_source      = hal.analogin->channel(g.rssi_pin);
+    board_vcc_analog_source = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
+
 #if HIL_MODE != HIL_MODE_ATTITUDE
     barometer.init();
 #endif