From 2af5ff896de9d509a078b4887207d59fe959048b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 11 Oct 2012 11:51:15 +1100
Subject: [PATCH] ACM-HIL: fixed optflow declaration

---
 ArduCopter/ArduCopter.pde | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index a14491bd24..e73e1f05f0 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -303,9 +303,13 @@ AP_GPS_HIL              g_gps_driver(NULL);
 AP_Compass_HIL compass;                  // never used
 AP_Baro_BMP085_HIL barometer;
 AP_InertialSensor_Stub ins;
- #ifdef OPTFLOW_ENABLED
-AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
- #endif
+#ifdef OPTFLOW_ENABLED
+#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+AP_OpticalFlow_ADNS3080 optflow(&spi3_semaphore,OPTFLOW_CS_PIN);
+#else
+AP_OpticalFlow_ADNS3080 optflow(NULL,OPTFLOW_CS_PIN);
+#endif
+#endif
  #ifdef DESKTOP_BUILD
   #include <SITL.h>
 SITL sitl;