From 3cd5386a7ec1452dfc7ac9e950def3d501fce501 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 5 Jan 2018 18:16:12 +1100 Subject: [PATCH] AP_OpticalFlow: support ChibiOS --- libraries/AP_OpticalFlow/OpticalFlow.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index 2806ba135a..a22cd1a727 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -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 }