From 4c8227c050dae7eca7f5a9d08fca1363bc776356 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 22 Sep 2013 22:20:47 +0900
Subject: [PATCH] Copter: update AP_Notify for gps failsafe and glitching

---
 ArduCopter/AP_State.pde   | 3 +++
 ArduCopter/ArduCopter.pde | 3 ++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/AP_State.pde b/ArduCopter/AP_State.pde
index 75686cdd98..b14bd6e45a 100644
--- a/ArduCopter/AP_State.pde
+++ b/ArduCopter/AP_State.pde
@@ -80,6 +80,9 @@ void set_low_battery(bool b)
 static void set_failsafe_gps(bool b)
 {
     ap.failsafe_gps = b;
+
+    // update AP_Notify
+    AP_Notify::flags.failsafe_gps = b;
 }
 
 // ---------------------------------------------
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 9770db7ca3..f2e92510e6 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1388,8 +1388,9 @@ static void update_GPS(void)
         // for performance monitoring
         gps_fix_count++;
 
-        // run glitch protection
+        // run glitch protection and update AP_Notify
         gps_glitch.check_position();
+        AP_Notify::flags.gps_glitching = gps_glitch.glitching();
 
         // check if we can initialise home yet
         if (!ap.home_is_set) {