APMrover v2.1.6a - small update for LITE version

Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>

APMrover2/APM_Config.h

@@ -20,8 +20,8 @@
 
 #define TRACE               DISABLED
 
-#include "APM_Config_HILmode.h"  // for test in HIL mode with AeroSIM Rc 3.83
-//#include "APM_Config_Rover.h"      // to be used with the real Traxxas model Monster Jam Grinder
+//#include "APM_Config_HILmode.h"  // for test in HIL mode with AeroSIM Rc 3.83
+#include "APM_Config_Rover.h"      // to be used with the real Traxxas model Monster Jam Grinder
 
 // Radio setup:
 // APM INPUT (Rec = receiver)

APMrover2/APMrover2.pde

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "APMrover v2.16 JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
+#define THISFIRMWARE "APMrover v2.16a JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
 
 // This is a full version of Arduplane v2.32 specially adapted for a Rover by Jean-Louis Naudin (JLN) 
 
@@ -18,7 +18,7 @@ License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.
 
 //
-// JLN updates: last update 2012-05-17
+// JLN updates: last update 2012-05-20
 //
 // DOLIST:
 //  

APMrover2/navigation.pde

@@ -76,12 +76,14 @@ static void calc_gndspeed_undershoot()
 }
 
 static void calc_bearing_error()
-{        
+{    
+#if LITE == DISABLED  
       #if CONFIG_SONAR == ENABLED
 	if((g.sonar_enabled) && (sonar_dist < g.sonar_trigger)) {
 	    nav_bearing += 9000;    // if obstacle in front turn 90° right	 
 	}
       #endif
+#endif
 	bearing_error = nav_bearing - ground_course;
 	bearing_error = wrap_180(bearing_error);
 }