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Copter: enable Optflow by default for Pixhawk only

This commit is contained in:
Randy Mackay 2014-10-16 21:17:54 +09:00
parent 6becb1a722
commit 27b73fa209
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/config.h
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@ -89,13 +89,8 @@
# define CLI_ENABLED DISABLED
# define FRSKY_TELEM_ENABLED DISABLED
# define NAV_GUIDED DISABLED
# define OPTFLOW DISABLED
#endif
// disable some features for SITL
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
# define OPTFLOW DISABLED
#endif
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// low power CPUs (APM1, APM2 and SITL)
@ -392,7 +387,11 @@
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW
# define OPTFLOW ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define OPTFLOW ENABLED
#else
# define OPTFLOW DISABLED
#endif
#endif
// optical flow based loiter PI values
#ifndef OPTFLOW_ROLL_P