From fc66f5594f2d8d29d81aad79fa8fe9ca55b16fa3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 18 Dec 2012 21:27:50 +1100
Subject: [PATCH] AHRS: allow AHRS test to build with SITL

---
 libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde | 13 +++++++++----
 libraries/AP_AHRS/examples/AHRS_Test/Makefile      |  3 ---
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
index 3654a0ad54..0b84ee04ad 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde
@@ -19,24 +19,29 @@
 #include <AP_Baro.h>
 #include <GCS_MAVLink.h>
 #include <Filter.h>
+#include <SITL.h>
 #include <AP_Buffer.h>
 
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Empty.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 AP_InertialSensor_MPU6000 ins;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 adc;
 AP_InertialSensor_Oilpan ins( &adc );
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
+#else
+AP_InertialSensor_Stub ins;
 #endif
 
 AP_Compass_HMC5843 compass;
 
 GPS *g_gps;
 
-AP_GPS_Auto g_gps_driver(hal.uartB, &g_gps);
+AP_GPS_Auto g_gps_driver(&g_gps);
 
 // choose which AHRS system to use
 AP_AHRS_DCM  ahrs(&ins, g_gps);
@@ -94,7 +99,7 @@ void setup(void)
     }
     g_gps = &g_gps_driver;
 #if WITH_GPS
-    g_gps->init();
+    g_gps->init(hal.uartB);
 #endif
 }
 
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/Makefile b/libraries/AP_AHRS/examples/AHRS_Test/Makefile
index fcdc8ff8fe..d1f40fd90f 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/Makefile
+++ b/libraries/AP_AHRS/examples/AHRS_Test/Makefile
@@ -1,4 +1 @@
 include ../../../AP_Common/Arduino.mk
-
-sitl:
-	make -f ../../../../libraries/Desktop/Desktop.mk