From 97396e65d10cee0fc5c6021b772612b6b405c436 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Mon, 6 Mar 2017 13:08:12 -0500
Subject: [PATCH] Sub: Disable manual control failsafe for SITL

---
 ArduSub/Sub.cpp    | 3 +++
 ArduSub/events.cpp | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index bc601c0232..cc331a3c14 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -103,7 +103,10 @@ Sub::Sub(void) :
     sensor_health.compass = true;
 
     failsafe.last_heartbeat_ms = 0;
+
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     failsafe.manual_control = true;
+#endif
 }
 
 Sub sub;
diff --git a/ArduSub/events.cpp b/ArduSub/events.cpp
index 2cfa879bcb..5201bd33eb 100644
--- a/ArduSub/events.cpp
+++ b/ArduSub/events.cpp
@@ -31,6 +31,7 @@ void Sub::failsafe_battery_event(void)
 
 void Sub::failsafe_manual_control_check()
 {
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     uint32_t tnow = AP_HAL::millis();
 
     // Require at least 2Hz update
@@ -46,6 +47,7 @@ void Sub::failsafe_manual_control_check()
     }
 
     failsafe.manual_control = false;
+#endif
 }
 
 void Sub::failsafe_internal_pressure_check()