_hott_update_gps_msg logic causes disarm in 2.8.1 (maybe taking too long in loop?)

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I have done some minor code block disabling to track down exactly where within 
this method that causes the disarm problem, but I have run out of time (heading 
out on vacation). 

I have isolated the issue to within the _hott_update_gps_msg method, commenting 
out a large portion of it fixes the problem. There was another tweak to be made 
with get_bearing_cd to get it compiling. but it still disarms if you have that 
entire block commented out.

Original issue reported on code.google.com by dchote.p...@gmail.com on 21 Dec 2012 at 5:42