From 74c200d17df642dcc2c3f9c8b2850d1efa4e4456 Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Thu, 15 Feb 2007 12:46:08 +0000
Subject: [PATCH] bug fixed in cputime_sec

---
 sw/airborne/main_ap.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sw/airborne/main_ap.c b/sw/airborne/main_ap.c
index 12398d857d..51455bbe02 100644
--- a/sw/airborne/main_ap.c
+++ b/sw/airborne/main_ap.c
@@ -298,6 +298,7 @@ static void navigation_task( void ) {
 #if defined FAILSAFE_DELAY_WITHOUT_GPS
   /** This section is used for the failsafe of GPS */
   static uint8_t last_pprz_mode;
+
   /** If aircraft is launched and is in autonomus mode, go into
       PPRZ_MODE_GPS_OUT_OF_ORDER mode (Failsafe) if we lost the GPS */
   if (launch) {
@@ -312,6 +313,7 @@ static void navigation_task( void ) {
       /** If aircraft was in failsafe mode, come back in previous mode */
       pprz_mode = last_pprz_mode;
       gps_lost = FALSE;
+
       PERIODIC_SEND_PPRZ_MODE();
     }
   }
@@ -415,7 +417,6 @@ void periodic_task_ap( void ) {
 
   if (!_1Hz) {
     if (estimator_flight_time) estimator_flight_time++;
-    cpu_time_sec++;
     stage_time_ds = (int16_t)(stage_time_ds+.5);
     stage_time++;
     block_time++;