From 3e1ae9b21583f8ce167db795efd94bd33a078ebe Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sun, 9 Oct 2011 15:57:29 -0400
Subject: [PATCH] APO GPS bug fix.

---
 libraries/APO/APO_DefaultSetup.h | 3 ++-
 libraries/APO/AP_Autopilot.cpp   | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/APO/APO_DefaultSetup.h b/libraries/APO/APO_DefaultSetup.h
index 94424e0253..b378d5ded2 100644
--- a/libraries/APO/APO_DefaultSetup.h
+++ b/libraries/APO/APO_DefaultSetup.h
@@ -23,6 +23,7 @@ void setup() {
 	AP_Guide * guide = NULL;
 	AP_Controller * controller = NULL;
 	AP_HardwareAbstractionLayer * hal = NULL;
+
 	/*
 	 * Communications
 	 */
@@ -50,6 +51,7 @@ void setup() {
 			hal->debug->println_P(PSTR("initializing gps"));
 			AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
 			hal->gps = &gpsDriver;
+			hal->gps->callback = delay;
 			hal->gps->init();
 		}
 
@@ -155,7 +157,6 @@ void setup() {
 		hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
 	}
 
-
 	/*
 	 * Start the autopilot
 	 */
diff --git a/libraries/APO/AP_Autopilot.cpp b/libraries/APO/AP_Autopilot.cpp
index 55251c720d..fa796d0626 100644
--- a/libraries/APO/AP_Autopilot.cpp
+++ b/libraries/APO/AP_Autopilot.cpp
@@ -45,6 +45,7 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
 				if (hal->gps->fix) {
 					break;
 				} else {
+					hal->gps->update();
 					hal->gcs->sendText(SEVERITY_LOW,
 							PSTR("waiting for gps lock\n"));
 					hal->debug->printf_P(PSTR("waiting for gps lock\n"));
@@ -67,8 +68,8 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
 				break;
 			}
 			hal->debug->println_P(PSTR("waiting for hil packet"));
-			delay(1000);
 		}
+		delay(1000);
 	}
 	
 	AP_MavlinkCommand::home.setAlt(_navigator->getAlt());