From a87394fff2523a32a539d729d8d86bde742c3cd4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 25 Nov 2012 21:53:27 +1100
Subject: [PATCH] Plane: don't do accel calibration in HIL mode

this should fix the hang on startup
---
 ArduPlane/system.pde | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index f48252a046..1b7ea90960 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -435,12 +435,14 @@ static void startup_INS_ground(bool force_accel_level)
     mavlink_delay(1000);
 
     ins.init(AP_InertialSensor::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
+#if HIL_MODE == HIL_MODE_DISABLED
     if (force_accel_level || g.manual_level == 0) {
         // when MANUAL_LEVEL is set to 1 we don't do accelerometer
         // levelling on each boot, and instead rely on the user to do
         // it once via the ground station
         ins.init_accel(mavlink_delay, flash_leds);
     }
+#endif
     ahrs.set_fly_forward(true);
     ahrs.reset();