From e24b6c6342dbb0dc39abdcebdbccccf64e863a6b Mon Sep 17 00:00:00 2001
From: ziltoid2 <idoit.ief@gmail.com>
Date: Thu, 21 May 2015 15:28:29 +0300
Subject: [PATCH] Plane: prevent delayed compass HIL data from disabling
 compass at system startup only

---
 ArduPlane/system.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 4914d7c11e..5fdb1031c9 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -178,7 +178,7 @@ void Plane::init_ardupilot()
     airspeed.init();
 
     if (g.compass_enabled==true) {
-        if (!compass.init() || !compass.read()) {
+        if (!compass.init() || (!g.hil_mode && !compass.read())) {
             cliSerial->println_P(PSTR("Compass initialisation failed!"));
             g.compass_enabled = false;
         } else {