From 468c83c07403d3c3405502cebfea14d83e39f052 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Thu, 6 Nov 2014 21:27:30 +1100
Subject: [PATCH] Copter : Check for new optical flow readings every 10ms

The driver polls the sensor asynchronously every 100 msec, so we need to continually check for new data.
---
 ArduCopter/ArduCopter.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 712ba0ce7f..77635a6571 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -775,7 +775,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { throttle_loop,         8,     45 },
     { update_GPS,            8,     90 },
 #if OPTFLOW == ENABLED
-    { update_optical_flow,  40,     20 },
+    { update_optical_flow,   4,     20 },
 #endif
     { update_batt_compass,  40,     72 },
     { read_aux_switches,    40,      5 },
@@ -1188,7 +1188,7 @@ static void one_hz_loop()
 #endif
 }
 
-// called at 10hz
+// called at 100hz
 #if OPTFLOW == ENABLED
 static void update_optical_flow(void)
 {