From ef6519e40636fd78612211ea287590baa0a92a4d Mon Sep 17 00:00:00 2001
From: "rmackay9@yahoo.com"
 <rmackay9@yahoo.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 22 Nov 2010 13:53:13 +0000
Subject: [PATCH] ArduCopterNG - small cosmetic change & small change to how
 Wire.begin is called (now only called once). 
 http://www.arduino.cc/en/Reference/WireBegin

git-svn-id: https://arducopter.googlecode.com/svn/trunk@885 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArducopterNG/ArducopterNG.pde | 7 ++++---
 ArducopterNG/System.pde       | 7 +++++--
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/ArducopterNG/ArducopterNG.pde b/ArducopterNG/ArducopterNG.pde
index 440372180d..bb4ce1762d 100644
--- a/ArducopterNG/ArducopterNG.pde
+++ b/ArducopterNG/ArducopterNG.pde
@@ -165,12 +165,9 @@
 #include <math.h>
 #include <APM_RC.h> 		// ArduPilot Mega RC Library
 #include <APM_ADC.h>		// ArduPilot Mega Analog to Digital Converter Library 
-APM_ADC_Class APM_ADC;      // Declare an instance
 #include <APM_BMP085.h> 	// ArduPilot Mega BMP085 Library 
-APM_BMP085_Class APM_BMP085;// Declare an instance
 #include <DataFlash.h>		// ArduPilot Mega Flash Memory Library
 #include <APM_Compass.h>	// ArduPilot Mega Magnetometer Library
-APM_Compass_Class APM_Compass; // Declare an instance
 #include <Wire.h>               // I2C Communication library
 #include <EEPROM.h>             // EEPROM 
 //#include <AP_GPS.h>
@@ -189,6 +186,10 @@ APM_Compass_Class APM_Compass; // Declare an instance
 /* Software version */
 #define VER 1.52    // Current software version (only numeric values)
 
+// Sensors - declare one global instance
+APM_ADC_Class		APM_ADC;
+APM_BMP085_Class	APM_BMP085;
+APM_Compass_Class	APM_Compass;
 
 /* ************************************************************ */
 /* ************* MAIN PROGRAM - DECLARATIONS ****************** */
diff --git a/ArducopterNG/System.pde b/ArducopterNG/System.pde
index 375daf3320..73876770f5 100644
--- a/ArducopterNG/System.pde
+++ b/ArducopterNG/System.pde
@@ -125,9 +125,12 @@ void APM_Init() {
   APM_RC.OutputCh(2,MIN_THROTTLE);
   APM_RC.OutputCh(3,MIN_THROTTLE);
 
+  // Initialise Wire library used by Magnetometer and Barometer
+  Wire.begin();
+
 #ifdef IsMAG
   if (MAGNETOMETER == 1) {
-    APM_Compass.Init();  // I2C initialization
+    APM_Compass.Init(FALSE);  // I2C initialization
     APM_Compass.SetOrientation(MAGORIENTATION);
     APM_Compass.SetOffsets(MAGOFFSET);
     APM_Compass.SetDeclination(ToRad(DECLINATION));
@@ -169,7 +172,7 @@ void APM_Init() {
 #endif
 
 #ifdef UseBMP
-  APM_BMP085.Init();
+  APM_BMP085.Init(FALSE);
 #endif
 
   delay(1000);