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AP_OpticalFlow: support ChibiOS

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This commit is contained in:
Andrew Tridgell 2018-01-05 18:16:12 +11:00
parent e026a408f3
commit 3cd5386a7e
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -89,7 +89,7 @@ void OpticalFlow::init(void)
}
if (!backend) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
// possibly have pixhart on external SPI
backend = AP_OpticalFlow_Pixart::detect(*this);
@ -104,6 +104,8 @@ void OpticalFlow::init(void)
backend = new AP_OpticalFlow_Onboard(*this);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
backend = AP_OpticalFlow_PX4Flow::detect(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
backend = AP_OpticalFlow_Pixart::detect(*this);
#endif
}