From d064ac00c5cb73507f9a35af32c49a6c0696569d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 28 Nov 2012 21:48:05 +0100
Subject: [PATCH] Potential fix for HIL state machine issue

---
 src/comm/QGCFlightGearLink.cc | 2 ++
 src/uas/UAS.cc                | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index 279e665..ce8e2a7 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -338,6 +338,8 @@ bool QGCFlightGearLink::connectSimulation()
     connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
     connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
 
+    mav->startHil();
+
     //connect(&refreshTimer, SIGNAL(timeout()), this, SLOT(sendUAVUpdate()));
     // Catch process error
     QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 1de82be..3fc4e2d 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2699,11 +2699,11 @@ void UAS::startHil()
 {
     if (hilEnabled) return;
     hilEnabled = true;
-    // Connect HIL simulation link
-    simulation->connectSimulation();
     mavlink_message_t msg;
     mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode);
     sendMessage(msg);
+    // Connect HIL simulation link
+    simulation->connectSimulation();
 }
 
 /**