From 17fcb294a3e5a05494d5f0ba8ef1495c0993ab45 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 24 May 2016 17:55:19 -0400
Subject: [PATCH] PX4 don't require sensors setup in HIL mode

-closes #3274
---
 src/AutoPilotPlugins/PX4/FlightModesComponent.cc | 2 +-
 src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc   | 8 +++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
index 17d71adea..9c64344a7 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponent.cc
@@ -107,7 +107,7 @@ QString FlightModesComponent::prerequisiteSetup(void) const
             return plugin->airframeComponent()->name();
         } else if (!plugin->radioComponent()->setupComplete()) {
             return plugin->radioComponent()->name();
-        } else if (!plugin->sensorsComponent()->setupComplete()) {
+        } else if (!plugin->vehicle()->hilMode() && !plugin->sensorsComponent()->setupComplete()) {
             return plugin->sensorsComponent()->name();
         }
     }
diff --git a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
index 14b0ea562..c2adda7c0 100644
--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -73,9 +73,11 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
             _radioComponent->setupTriggerSignals();
             _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
 
-            _sensorsComponent = new SensorsComponent(_vehicle, this);
-            _sensorsComponent->setupTriggerSignals();
-            _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            if (!_vehicle->hilMode()) {
+                _sensorsComponent = new SensorsComponent(_vehicle, this);
+                _sensorsComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
+            }
 
             _flightModesComponent = new FlightModesComponent(_vehicle, this);
             _flightModesComponent->setupTriggerSignals();
-- 
2.22.0