From 311206017ce0b527f8bace3e6bc90b4271c3c50b Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 1 Nov 2014 06:41:01 +1100
Subject: [PATCH] Copter : Update EKF optical flow data interface

Makes it compatible with the new PX4Flow interface
---
 ArduCopter/ArduCopter.pde | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 0671db9f60..83c0daca9b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1206,11 +1206,8 @@ static void update_optical_flow(void)
     if (optflow.last_update() != last_of_update) {
         last_of_update = optflow.last_update();
         uint8_t flowQuality = optflow.quality();
-        Vector2f rawFlowRates = optflow.velocity();
-        Vector2i temp = optflow.raw();
-        Vector2f rawGyroRates;
-        rawGyroRates.x = 0.001f * float(temp.x);
-        rawGyroRates.y = 0.001f * float(temp.y);
+        Vector2f rawFlowRates = optflow.flowRate();
+        Vector2f rawGyroRates = optflow.bodyRate();
         // Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
         float ground_distance_m = 0.01f*float(sonar_alt);
         ahrs.writeOptFlowMeas(flowQuality, rawFlowRates, rawGyroRates, last_of_update, sonar_alt_health, ground_distance_m);