diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 716b98cbf1..f78e600a4b 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -23,8 +23,6 @@
  # define CLI_ENABLED           DISABLED            // disable the CLI (command-line-interface) to save 21K of flash space
 #endif
 //#define LOGGING_ENABLED       DISABLED            // disable dataflash logging to save 11K of flash space
-//#define GPS_PROTOCOL          GPS_PROTOCOL_UBLOX  // hard code GPS to Ublox to save 8k of flash
-//#define GPS_PROTOCOL          GPS_PROTOCOL_MTK19  // hard cdoe GPS to Mediatek to save 10k of flash
 //#define MOUNT                 DISABLED            // disable the camera gimbal to save 8K of flash space
 //#define AUTOTUNE_ENABLED      DISABLED            // disable the auto tune functionality to save 7k of flash
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
diff --git a/ArduCopter/APM_Config_mavlink_hil.h b/ArduCopter/APM_Config_mavlink_hil.h
index 3ba7fc38bf..73148672f2 100644
--- a/ArduCopter/APM_Config_mavlink_hil.h
+++ b/ArduCopter/APM_Config_mavlink_hil.h
@@ -28,11 +28,6 @@
 
 #define HIL_PORT            3
 
-// You can set your gps protocol here for your actual
-// hardware and leave it without affecting the hardware
-// in the loop simulation
-#define GPS_PROTOCOL            GPS_PROTOCOL_MTK
-
 // Sensors
 // All sensors are supported in all modes.
 #define MAGNETOMETER        ENABLED
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a0fea8c219..78cfb29c48 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -237,12 +237,9 @@ static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor:
 //   supply data from the simulation.
 //
 
-// All GPS access should be through this pointer.
-static GPS         *g_gps;
-#if GPS2_ENABLE
-static GPS         *g_gps2;
-#endif
-static GPS_Glitch   gps_glitch(g_gps);
+static AP_GPS  gps;
+
+static GPS_Glitch gps_glitch(gps);
 
 // flight modes convenience array
 static AP_Int8 *flight_modes = &g.flight_mode1;
@@ -295,41 +292,11 @@ static AP_Compass_HMC5843 compass;
  #endif
  #endif
 
-// real GPS selection
- #if   GPS_PROTOCOL == GPS_PROTOCOL_AUTO
-AP_GPS_Auto     g_gps_driver(&g_gps);
-#if GPS2_ENABLE
-AP_GPS_Auto    g_gps2_driver(&g_gps2);
-#endif
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
-AP_GPS_NMEA     g_gps_driver;
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
-AP_GPS_SIRF     g_gps_driver;
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
-AP_GPS_UBLOX    g_gps_driver;
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
-AP_GPS_MTK      g_gps_driver;
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK19
-AP_GPS_MTK19    g_gps_driver;
-
- #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
-AP_GPS_None     g_gps_driver;
-
- #else
-  #error Unrecognised GPS_PROTOCOL setting.
- #endif // GPS PROTOCOL
-
 #elif HIL_MODE != HIL_MODE_DISABLED
 // sensor emulators
 static AP_ADC_HIL              adc;
 static AP_Baro_HIL      barometer;
 static AP_Compass_HIL          compass;
-static AP_GPS_HIL              g_gps_driver;
 static AP_InertialSensor_HIL   ins;
 
  #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@@ -343,9 +310,9 @@ static SITL sitl;
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
+AP_AHRS_NavEKF ahrs(ins, barometer, gps);
 #else
-AP_AHRS_DCM ahrs(ins, barometer, g_gps);
+AP_AHRS_DCM ahrs(ins, barometer, gps);
 #endif
 
 // Mission library
@@ -655,9 +622,9 @@ static float G_Dt = 0.02;
 // Inertial Navigation
 ////////////////////////////////////////////////////////////////////////////////
 #if AP_AHRS_NAVEKF_AVAILABLE
-static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, g_gps, gps_glitch);
+static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch);
 #else
-static AP_InertialNav inertial_nav(ahrs, barometer, g_gps, gps_glitch);
+static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -716,14 +683,12 @@ static AP_HAL::AnalogSource* rssi_analog_source;
 // --------------------------------------
 #if MOUNT == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
-// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-static AP_Mount camera_mount(&current_loc, g_gps, ahrs, 0);
+static AP_Mount camera_mount(&current_loc, ahrs, 0);
 #endif
 
 #if MOUNT2 == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
-// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-static AP_Mount camera_mount2(&current_loc, g_gps, ahrs, 1);
+static AP_Mount camera_mount2(&current_loc, ahrs, 1);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -1203,15 +1168,15 @@ static void update_GPS(void)
     static uint8_t ground_start_count = 10;     // counter used to grab at least 10 reads before commiting the Home location
     bool report_gps_glitch;
 
-    g_gps->update();
+    gps.update();
 
     // logging and glitch protection run after every gps message
-    if (g_gps->last_message_time_ms() != last_gps_reading) {
-        last_gps_reading = g_gps->last_message_time_ms();
+    if (gps.last_message_time_ms() != last_gps_reading) {
+        last_gps_reading = gps.last_message_time_ms();
 
         // log GPS message
         if (g.log_bitmask & MASK_LOG_GPS) {
-            DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
+            DataFlash.Log_Write_GPS(gps, current_loc.alt);
         }
 
         // run glitch protection and update AP_Notify if home has been initialised
@@ -1227,61 +1192,46 @@ static void update_GPS(void)
                 AP_Notify::flags.gps_glitching = report_gps_glitch;
             }
         }
-    }
 
-    // checks to initialise home and take location based pictures
-    if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
-        // clear new data flag
-        g_gps->new_data = false;
+        // checks to initialise home and take location based pictures
+        if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
 
-        // check if we can initialise home yet
-        if (!ap.home_is_set) {
-            // if we have a 3d lock and valid location
-            if(g_gps->status() >= GPS::GPS_OK_FIX_3D && g_gps->latitude != 0) {
-                if( ground_start_count > 0 ) {
-                    ground_start_count--;
-                }else{
-                    // after 10 successful reads store home location
-                    // ap.home_is_set will be true so this will only happen once
-                    ground_start_count = 0;
-                    init_home();
+            // check if we can initialise home yet
+            if (!ap.home_is_set) {
+                // if we have a 3d lock and valid location
+                if(gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.location().lat != 0) {
+                    if (ground_start_count > 0 ) {
+                        ground_start_count--;
+                    } else {
+                        // after 10 successful reads store home location
+                        // ap.home_is_set will be true so this will only happen once
+                        ground_start_count = 0;
+                        init_home();
 
-                    // set system clock for log timestamps
-                    hal.util->set_system_clock(g_gps->time_epoch_usec());
-
-                    if (g.compass_enabled) {
-                        // Set compass declination automatically
-                        compass.set_initial_location(g_gps->latitude, g_gps->longitude);
+                        // set system clock for log timestamps
+                        hal.util->set_system_clock(gps.time_epoch_usec());
+                        
+                        if (g.compass_enabled) {
+                            // Set compass declination automatically
+                            compass.set_initial_location(gps.location().lat, gps.location().lng);
+                        }
                     }
+                } else {
+                    // start again if we lose 3d lock
+                    ground_start_count = 10;
                 }
-            }else{
-                // start again if we lose 3d lock
-                ground_start_count = 10;
             }
-        }
 
 #if CAMERA == ENABLED
-        if (camera.update_location(current_loc) == true) {
-            do_take_picture();
-        }
+            if (camera.update_location(current_loc) == true) {
+                do_take_picture();
+            }
 #endif
+        }
     }
 
     // check for loss of gps
     failsafe_gps_check();
-
-#if GPS2_ENABLE
-    static uint32_t last_gps2_reading;
-    if (g_gps2 != NULL) {
-        g_gps2->update();
-        if (g_gps2->last_message_time_ms() != last_gps2_reading) {
-            last_gps2_reading = g_gps2->last_message_time_ms();
-            if (g.log_bitmask & MASK_LOG_GPS) {
-                DataFlash.Log_Write_GPS2(g_gps2);
-            }
-        }
-    }
-#endif
 }
 
 static void
diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 2f540bf545..de75a1fbb1 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -67,8 +67,8 @@ static float get_roi_yaw()
 static float get_look_ahead_yaw()
 {
     // Commanded Yaw to automatically look ahead.
-    if (g_gps->fix && g_gps->ground_speed_cm > YAW_LOOK_AHEAD_MIN_SPEED) {
-        yaw_look_ahead_bearing = g_gps->ground_course_cd;
+    if (gps.status() >= AP_GPS::GPS_OK_FIX_2D && gps.ground_speed_cm() > YAW_LOOK_AHEAD_MIN_SPEED) {
+        yaw_look_ahead_bearing = gps.ground_course_cd();
     }
     return yaw_look_ahead_bearing;
 }
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 2b7e7acb0f..b10e758bdb 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -151,7 +151,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (g.compass_enabled) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
     }
-    if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
+    if (gps.status() > AP_GPS::NO_GPS) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
     }
 #if OPTFLOW == ENABLED
@@ -188,7 +188,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
-    if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {
+    if (gps.status() > AP_GPS::NO_GPS && (!gps_glitch.glitching()||ap.usb_connected)) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
     if (ap.rc_receiver_present && !failsafe.radio) {
@@ -229,21 +229,22 @@ static void NOINLINE send_location(mavlink_channel_t chan)
     // positions.
     // If we don't have a GPS fix then we are dead reckoning, and will
     // use the current boot time as the fix time.    
-    if (g_gps->status() >= GPS::GPS_OK_FIX_2D) {
-        fix_time = g_gps->last_fix_time;
+    if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
+        fix_time = gps.last_fix_time_ms();
     } else {
         fix_time = millis();
     }
+    const Vector3f &vel = gps.velocity();
     mavlink_msg_global_position_int_send(
         chan,
         fix_time,
         current_loc.lat,                // in 1E7 degrees
         current_loc.lng,                // in 1E7 degrees
-        g_gps->altitude_cm * 10,             // millimeters above sea level
+        gps.location().alt * 10UL,      // millimeters above sea level
         (current_loc.alt - home.alt) * 10,           // millimeters above ground
-        g_gps->velocity_north() * 100,  // X speed cm/s (+ve North)
-        g_gps->velocity_east()  * 100,  // Y speed cm/s (+ve East)
-        g_gps->velocity_down()  * -100, // Z speed cm/s (+ve up)
+        vel.x * 100,  // X speed cm/s (+ve North)
+        vel.y * 100,  // Y speed cm/s (+ve East)
+        vel.x * -100, // Z speed cm/s (+ve up)
         ahrs.yaw_sensor);               // compass heading in 1/100 degree
 }
 
@@ -295,36 +296,39 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
 
 static void NOINLINE send_gps_raw(mavlink_channel_t chan)
 {
+    const Location &loc = gps.location(0);
     mavlink_msg_gps_raw_int_send(
         chan,
-        g_gps->last_fix_time*(uint64_t)1000,
-        g_gps->status(),
-        g_gps->latitude,      // in 1E7 degrees
-        g_gps->longitude,     // in 1E7 degrees
-        g_gps->altitude_cm * 10, // in mm
-        g_gps->hdop,
+        gps.last_fix_time_ms(0)*(uint64_t)1000,
+        gps.status(0),
+        loc.lat,        // in 1E7 degrees
+        loc.lng,        // in 1E7 degrees
+        loc.alt * 10UL, // in mm
+        gps.get_hdop(0),
         65535,
-        g_gps->ground_speed_cm,  // cm/s
-        g_gps->ground_course_cd, // 1/100 degrees,
-        g_gps->num_sats);
+        gps.ground_speed(0)*100,  // cm/s
+        gps.ground_course_cd(0), // 1/100 degrees,
+        gps.num_sats(0));
 
-#if GPS2_ENABLE
-    if (g_gps2 != NULL && g_gps2->status() != GPS::NO_GPS) {
+#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
+    if (gps.num_sensors() > 1 && 
+        gps.status(1) > AP_GPS::NO_GPS) {
         int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
         if (payload_space >= MAVLINK_MSG_ID_GPS2_RAW_LEN) {
+            const Location &loc2 = gps.location(1);
             mavlink_msg_gps2_raw_send(
                 chan,
-                g_gps2->last_fix_time*(uint64_t)1000,
-                g_gps2->status(),
-                g_gps2->latitude,      // in 1E7 degrees
-                g_gps2->longitude,     // in 1E7 degrees
-                g_gps2->altitude_cm * 10, // in mm
-                g_gps2->hdop,
+                gps.last_fix_time_ms(1)*(uint64_t)1000,
+                gps.status(1),
+                loc2.lat,
+                loc2.lng,
+                loc2.alt * 10UL,
+                gps.get_hdop(1),
                 65535,
-                g_gps2->ground_speed_cm,  // cm/s
-                g_gps2->ground_course_cd, // 1/100 degrees,
-                g_gps2->num_sats,
-                0, 
+                gps.ground_speed(1)*100,  // cm/s
+                gps.ground_course_cd(1), // 1/100 degrees,
+                gps.num_sats(1),
+                0,
                 0);
         }
     }
@@ -335,7 +339,7 @@ static void NOINLINE send_system_time(mavlink_channel_t chan)
 {
     mavlink_msg_system_time_send(
         chan,
-        g_gps->time_epoch_usec(),
+        gps.time_epoch_usec(),
         hal.scheduler->millis());
 }
 
@@ -484,8 +488,8 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
 {
     mavlink_msg_vfr_hud_send(
         chan,
-        (float)g_gps->ground_speed_cm / 100.0f,
-        (float)g_gps->ground_speed_cm / 100.0f,
+        gps.ground_speed(),
+        gps.ground_speed(),
         (ahrs.yaw_sensor / 100) % 360,
         g.rc_3.servo_out/10,
         current_loc.alt / 100.0f,
@@ -1339,18 +1343,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_hil_state_t packet;
         mavlink_msg_hil_state_decode(msg, &packet);
 
-        float vel = pythagorous2(packet.vx, packet.vy);
-        float cog = wrap_360_cd(ToDeg(atan2f(packet.vx, packet.vy)) * 100);
-
-        // if we are erasing the dataflash this object doesnt exist yet. as its called from delay_cb
-        if (g_gps == NULL)
-            break;
-
         // set gps hil sensor
-        g_gps->setHIL(GPS::FIX_3D,
-                      packet.time_usec/1000,
-                      packet.lat*1.0e-7, packet.lon*1.0e-7, packet.alt*1.0e-3,
-                      vel*1.0e-2, cog*1.0e-2, 0, 10);
+        Location loc;
+        loc.lat = packet.lat;
+        loc.lng = packet.lon;
+        loc.alt = packet.alt/10;
+        Vector3f vel(packet.vx, packet.vy, packet.vz);
+        vel *= 0.01f;
+
+        gps.setHIL(AP_GPS::GPS_OK_FIX_3D,
+                   packet.time_usec/1000,
+                   loc, vel, 10);
 
         if (!ap.home_is_set) {
             init_home();
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 470afb835b..1a7bb56cfc 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -627,8 +627,8 @@ static void Log_Write_Camera()
 #if CAMERA == ENABLED
     struct log_Camera pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CAMERA_MSG),
-        gps_time    : g_gps->time_week_ms,
-        gps_week    : g_gps->time_week,
+        gps_time    : gps.time_week_ms(),
+        gps_week    : gps.time_week(),
         latitude    : current_loc.lat,
         longitude   : current_loc.lng,
         altitude    : current_loc.alt,
diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index 7730ad053c..6fb32756a0 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -5,7 +5,12 @@
 static void init_home()
 {
     set_home_is_set(true);
-    ahrs.set_home(g_gps->latitude, g_gps->longitude, 0);
+
+    // copter uses 0 home altitude
+    Location loc = gps.location();
+    loc.alt = 0;
+
+    ahrs.set_home(loc);
 
     inertial_nav.setup_home_position();
 
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 17bc9465fd..33a904e7a9 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -708,7 +708,9 @@ static void do_set_home(const AP_Mission::Mission_Command& cmd)
     if(cmd.p1 == 1) {
         init_home();
     } else {
-        ahrs.set_home(cmd.content.location.lat, cmd.content.location.lng, 0);
+        Location loc = cmd.content.location;
+        loc.alt = 0;
+        ahrs.set_home(loc);
         set_home_is_set(true);
     }
 }
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 67b394219a..902b06e57a 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -107,14 +107,6 @@
  # define MAIN_LOOP_MICROS  10000
 #endif
 
-// 2nd GPS support
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
-#define GPS2_ENABLE 1
-#else
-#define GPS2_ENABLE 0
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 // FRAME_CONFIG
 //
@@ -269,22 +261,9 @@
 
 #if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
 
- # undef GPS_PROTOCOL
- # define GPS_PROTOCOL GPS_PROTOCOL_NONE
-
  #undef CONFIG_SONAR
  #define CONFIG_SONAR DISABLED
 
- #undef GPS2_ENABLE
- #define GPS2_ENABLE 0
-#endif
-
-
-//////////////////////////////////////////////////////////////////////////////
-// GPS_PROTOCOL
-//
-#ifndef GPS_PROTOCOL
- # define GPS_PROTOCOL           GPS_PROTOCOL_AUTO
 #endif
 
 
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 432b6d1e43..58ec8134b0 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -77,17 +77,6 @@
 #define ToRad(x) radians(x)	// *pi/180
 #define ToDeg(x) degrees(x)	// *180/pi
 
-// GPS type codes - use the names, not the numbers
-#define GPS_PROTOCOL_NONE       -1
-#define GPS_PROTOCOL_NMEA       0
-#define GPS_PROTOCOL_SIRF       1
-#define GPS_PROTOCOL_UBLOX      2
-#define GPS_PROTOCOL_IMU        3
-#define GPS_PROTOCOL_MTK        4
-#define GPS_PROTOCOL_HIL        5
-#define GPS_PROTOCOL_MTK19      6
-#define GPS_PROTOCOL_AUTO       7
-
 // HIL enumerations
 #define HIL_MODE_DISABLED               0
 #define HIL_MODE_SENSORS                1
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index b93f7e860e..bb2e4494cd 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -436,7 +436,7 @@ static bool pre_arm_gps_checks(bool display_failure)
     }
 
     // warn about hdop separately - to prevent user confusion with no gps lock
-    if (g_gps->hdop > g.gps_hdop_good) {
+    if (gps.get_hdop() > g.gps_hdop_good) {
         if (display_failure) {
             gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: High GPS HDOP"));
         }
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index e378a1fb77..a669fd0ece 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -227,17 +227,7 @@ static void init_ardupilot()
  #endif // CONFIG_ADC
 
     // Do GPS init
-    g_gps = &g_gps_driver;
-    // GPS Initialization
-    g_gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_4G, &DataFlash);
-
-#if GPS2_ENABLE
-    if (hal.uartE != NULL) {
-        g_gps2 = &g_gps2_driver;
-        g_gps2->init(hal.uartE, GPS::GPS_ENGINE_AIRBORNE_4G, &DataFlash);
-        g_gps2->set_secondary();
-    }
-#endif
+    gps.init(&DataFlash);
 
     if(g.compass_enabled)
         init_compass();
@@ -338,7 +328,8 @@ static void startup_ground(bool force_gyro_cal)
 // returns true if the GPS is ok and home position is set
 static bool GPS_ok()
 {
-    if (g_gps != NULL && ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D && !gps_glitch.glitching() && !failsafe.gps) {
+    if (ap.home_is_set && gps.status() == AP_GPS::GPS_OK_FIX_3D && 
+        !gps_glitch.glitching() && !failsafe.gps) {
         return true;
     }else{
         return false;