From 715d64dce9e469dbb70b98bbeb4b6a130e615a43 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 7 Nov 2014 21:54:32 +1100
Subject: [PATCH] Copter: Check for new optical flow updates at 200Hz

Supports use of higher flow read rates if required.
---
 ArduCopter/ArduCopter.pde | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 77635a6571..9aed1ac7d4 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,   4,     20 },
+    { update_optical_flow,   2,     20 },
 #endif
     { update_batt_compass,  40,     72 },
     { read_aux_switches,    40,      5 },
@@ -1188,7 +1188,7 @@ static void one_hz_loop()
 #endif
 }
 
-// called at 100hz
+// called at 200hz
 #if OPTFLOW == ENABLED
 static void update_optical_flow(void)
 {