Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/navigation.pde

@@ -214,9 +214,9 @@ static void update_crosstrack(void)
 	}
 }
 
-static long cross_track_test()
+static int32_t cross_track_test()
 {
-	long temp 	= target_bearing - original_target_bearing;
+	int32_t temp 	= target_bearing - original_target_bearing;
 	temp 		= wrap_180(temp);
 	return abs(temp);
 }

Tools/autotest/arducopter.py

@@ -64,6 +64,9 @@ def get_bearing(loc1, loc2):
 
 def current_location(mav):
     '''return current location'''
+    # ensure we have a position
+    mav.recv_match(type='VFR_HUD', blocking=True)
+    mav.recv_match(type='GPS_RAW', blocking=True)
     return location(mav.messages['GPS_RAW'].lat,
                     mav.messages['GPS_RAW'].lon,
                     mav.messages['VFR_HUD'].alt)

Tools/autotest/autotest.py

@@ -42,7 +42,7 @@ def dump_logs(atype):
     mavproxy.expect("Log]")
     for i in range(numlogs):
         mavproxy.send("dump %u\n" % (i+1))
-        mavproxy.expect("logs enabled:")
+        mavproxy.expect("logs enabled:", timeout=120)
         mavproxy.expect("Log]")
     util.pexpect_close(mavproxy)
     util.pexpect_close(sil)

libraries/Desktop/support/main.cpp

@@ -51,9 +51,6 @@ int main(int argc, char * const argv[])
 	}
 
 	signal(SIGALRM, sig_alarm);
-	if (!desktop_state.slider) {
-		alarm(5);
-	}
 
 	// run main setup() function from sketch
 	setup();