From deb3336729c480dfa8b711a4fcfe0195ce2d5d0f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 14 Apr 2012 14:02:20 -0500
Subject: [PATCH] Make sure for revolution all the GPS objects are always
 initialized even if there is no GPS port.  Otherwise connecting to relevant
 queues will fail.

---
 flight/Modules/GPS/GPS.c | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/flight/Modules/GPS/GPS.c b/flight/Modules/GPS/GPS.c
index eeb4e1a4a..1754f61d3 100644
--- a/flight/Modules/GPS/GPS.c
+++ b/flight/Modules/GPS/GPS.c
@@ -138,6 +138,17 @@ 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();
@@ -149,7 +160,10 @@ int32_t GPSInitialize(void)
 		HomeLocationInitialize();
 #endif
 		updateSettings();
+	}
+#endif
 
+	if (gpsPort && gpsEnabled) {
 		gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
 		PIOS_Assert(gps_rx_buffer);