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added define for optflow

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This commit is contained in:
Jason Short 2011-12-23 18:45:01 -08:00
parent d7af42c925
commit 0491d4feca
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/ArduCopter.pde
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@ -744,12 +744,13 @@ static void medium_loop()
// If we have optFlow enabled we can grab a more accurate speed // If we have optFlow enabled we can grab a more accurate speed
// here and override the speed from the GPS // here and override the speed from the GPS
// ---------------------------------------- // ----------------------------------------
#ifdef OPTFLOW_ENABLED
if(g.optflow_enabled && current_loc.alt < 500){ if(g.optflow_enabled && current_loc.alt < 500){
// optflow wont be enabled on 1280's // optflow wont be enabled on 1280's
x_GPS_speed = optflow.x_cm; x_GPS_speed = optflow.x_cm;
y_GPS_speed = optflow.y_cm; y_GPS_speed = optflow.y_cm;
} }
#endif
// control mode specific updates // control mode specific updates
// ----------------------------- // -----------------------------
update_navigation(); update_navigation();