From d0b7dc001230487ff18e07f89195d4450c7e538d Mon Sep 17 00:00:00 2001
From: Werner Backes <op-dev@bit-1.de>
Date: Tue, 10 Jul 2012 16:38:00 +0200
Subject: [PATCH] Added some pieces that had been lost during rebase

---
 flight/Modules/GPS/GPS.c | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index 15bfa4457..8c320d5b7 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -35,8 +35,6 @@
 
 //#include <stdbool.h>
 
-#include "NMEA.h"
-
 #include "gpsposition.h"
 #include "homelocation.h"
 #include "gpstime.h"
@@ -47,6 +45,9 @@
 #include "CoordinateConversions.h"
 #include "hwsettings.h"
 
+#include "NMEA.h"
+#include "UBX.h"
+
 
 // ****************
 // Private functions
@@ -140,6 +141,17 @@ int32_t GPSInitialize(void)
 		gpsEnabled = false;
 #endif
 
+#if defined(REVOLUTION)
+	// Revolution expects these objects to always be defined.  Not doing so will fail some
+	// queue connections in navigation
+	GPSPositionInitialize();
+	GPSVelocityInitialize();
+	GPSTimeInitialize();
+	GPSSatellitesInitialize();
+	HomeLocationInitialize();
+	updateSettings();
+
+#else
 	if (gpsPort && gpsEnabled) {
 		GPSPositionInitialize();
 		GPSVelocityInitialize();
@@ -151,6 +163,8 @@ int32_t GPSInitialize(void)
 		HomeLocationInitialize();
 #endif
 		updateSettings();
+	}
+#endif
 
 	if (gpsPort && gpsEnabled) {
 		GPSSettingsInitialize();
@@ -295,14 +309,6 @@ static void setHomeLocation(GPSPositionData * gpsData)
 
 		// Compute home ECEF coordinates and the rotation matrix into NED
 		double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
-		double ECEF[3];
-		RneFromLLA(LLA, (float (*)[3])home.RNE);
-		LLA2ECEF(LLA, ECEF);
-		// TODO: Currently UAVTalk only supports float but these conversions use double
-		// need to find out if they require that precision and if so extend UAVTAlk
-		home.ECEF[0] = (int32_t) (ECEF[0] * 100);
-		home.ECEF[1] = (int32_t) (ECEF[1] * 100);
-		home.ECEF[2] = (int32_t) (ECEF[2] * 100);
 
 		// Compute magnetic flux direction at home location
 		if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0)