From e8d74ae3fea1084e9478bd792aca75980558ce53 Mon Sep 17 00:00:00 2001
From: James Goppert <jgoppert@w7.hsl.dynalias.com>
Date: Mon, 28 Nov 2011 12:29:05 -0500
Subject: [PATCH] Fixed apo radio error.

---
 CMakeLists.txt                              | 2 +-
 libraries/APO/APO_DefaultSetup.h            | 6 ++++--
 libraries/APO/AP_HardwareAbstractionLayer.h | 3 ++-
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5fee4eb925..aa25d20942 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ set(APPLICATION_VERSION "${APPLICATION_VERSION_MAJOR}.${APPLICATION_VERSION_MINO
 
 # macros
 include(MacroEnsureOutOfSourceBuild)
-include(UseDoxygen)
+#include(UseDoxygen)
 
 # disallow in-source build
 macro_ensure_out_of_source_build("${PROJECT_NAME} requires an out of source build.
diff --git a/libraries/APO/APO_DefaultSetup.h b/libraries/APO/APO_DefaultSetup.h
index 2f612368cb..e637d1de4f 100644
--- a/libraries/APO/APO_DefaultSetup.h
+++ b/libraries/APO/APO_DefaultSetup.h
@@ -37,12 +37,14 @@ void setup() {
     hal->debug = &Serial;
     hal->debug->println_P(PSTR("initializing debug line"));
 
+    // initialize radio
+    hal->radio = new APM_RC_APM1;
+
     /*
      * Sensor initialization
      */
     if (hal->getMode() == MODE_LIVE) {
 
-        hal->radio = new APM_RC_APM1;
 
         hal->debug->println_P(PSTR("initializing adc"));
         hal->adc = new ADC_CLASS;
@@ -131,7 +133,7 @@ void setup() {
         /*
          * navigation sensors
          */
-        hal->imu = new AP_IMU_INS(new AP_InertialSensor_Oilpan(hal->adc), k_sensorCalib); 
+        //hal->imu = new AP_IMU_INS(new AP_InertialSensor_Oilpan(hal->adc), k_sensorCalib); 
         //hal->imu = AP_IMU_INS(new AP_InertialSensor_MPU6000(mpu6000SelectPin), k_sensorCalib);
     }
 
diff --git a/libraries/APO/AP_HardwareAbstractionLayer.h b/libraries/APO/AP_HardwareAbstractionLayer.h
index de49dc3b09..4785e975dc 100644
--- a/libraries/APO/AP_HardwareAbstractionLayer.h
+++ b/libraries/APO/AP_HardwareAbstractionLayer.h
@@ -49,7 +49,8 @@ public:
     // initialized
     AP_HardwareAbstractionLayer(halMode_t mode, board_t board,
                                 vehicle_t vehicle, uint8_t heartBeatTimeout) :
-        adc(), gps(), baro(), compass(), rangeFinders(), imu(), batteryMonitor(), rc(), gcs(),
+        adc(), gps(), baro(), compass(), rangeFinders(), imu(), batteryMonitor(), 
+        radio(), rc(), gcs(),
         hil(), debug(), load(), lastHeartBeat(),
         _heartBeatTimeout(heartBeatTimeout), _mode(mode),
         _board(board), _vehicle(vehicle) {