From 39ad8b5eec5b5959ef7cd11647dee276ba17700b Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Tue, 24 Jul 2012 07:16:09 +0800
Subject: [PATCH] AP fix sitl hil attitude mode.

---
 ArduPlane/APM_Config.h  | 2 +-
 ArduPlane/ArduPlane.pde | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h
index 18b5794ca7..96d2017fca 100644
--- a/ArduPlane/APM_Config.h
+++ b/ArduPlane/APM_Config.h
@@ -16,7 +16,7 @@
 // The following are the recommended settings for Xplane
 // simulation. Remove the leading "/* and trailing "*/" to enable:
 
-#define HIL_MODE            HIL_MODE_DISABLED
+//#define HIL_MODE            HIL_MODE_DISABLED
 
 /*
 // HIL_MODE SELECTION
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index d853f18249..b9441f8b19 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -224,6 +224,11 @@ AP_AHRS_HIL             ahrs(&imu, g_gps);
 AP_GPS_HIL              g_gps_driver(NULL);
 AP_Compass_HIL          compass; // never used
 AP_Baro_BMP085_HIL      barometer;
+#ifdef DESKTOP_BUILD
+#include <SITL.h>
+SITL					sitl;
+AP_InertialSensor_Oilpan ins( &adc );
+#endif
 
 #else
  #error Unrecognised HIL_MODE setting.
@@ -705,7 +710,9 @@ static void fast_loop()
 	// Read Airspeed
 	// -------------
 	if (airspeed.enabled()) {
+#if HIL_MODE != HIL_MODE_ATTITUDE
 		read_airspeed();
+#endif
 	}
 
 	#if HIL_MODE == HIL_MODE_SENSORS