From a2f1bf581a1bee089d880901830604168011ca83 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 3 Aug 2015 15:58:57 +1000
Subject: [PATCH] DataFlash: fix test for SITL and linux

---
 .../examples/DataFlash_test/DataFlash_test.cpp        | 11 ++++++++---
 libraries/DataFlash/examples/DataFlash_test/make.inc  |  3 +++
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp b/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
index 686edd7440..165c21ba53 100644
--- a/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
+++ b/libraries/DataFlash/examples/DataFlash_test/DataFlash_test.cpp
@@ -8,6 +8,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL_AVR/AP_HAL_AVR.h>
 #include <AP_HAL_SITL/AP_HAL_SITL.h>
+#include <AP_HAL_Linux/AP_HAL_Linux.h>
 #include <AP_HAL_Empty/AP_HAL_Empty.h>
 #include <AP_HAL_PX4/AP_HAL_PX4.h>
 
@@ -107,8 +108,8 @@ void DataFlashTest::setup(void)
             v2    : (uint16_t)(2001 + i),
             v3    : (uint16_t)(2002 + i),
             v4    : (uint16_t)(2003 + i),
-            l1    : (long)i * 5000,
-            l2    : (long)i * 16268
+            l1    : (int32_t)(i * 5000),
+            l2    : (int32_t)(i * 16268)
         };
         dataflash.WriteBlock(&pkt, sizeof(pkt));
         total_micros += hal.scheduler->micros() - start;
@@ -116,7 +117,11 @@ void DataFlashTest::setup(void)
     }
 
     hal.console->printf("Average write time %.1f usec/byte\n", 
-                       (double)total_micros/((float)i*sizeof(struct log_Test)));
+                       (double)total_micros/((double)i*sizeof(struct log_Test)));
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+    dataflash.flush();
+#endif
 
     hal.scheduler->delay(100);
 }
diff --git a/libraries/DataFlash/examples/DataFlash_test/make.inc b/libraries/DataFlash/examples/DataFlash_test/make.inc
index df415552ce..158ad8a388 100644
--- a/libraries/DataFlash/examples/DataFlash_test/make.inc
+++ b/libraries/DataFlash/examples/DataFlash_test/make.inc
@@ -11,6 +11,7 @@ LIBRARIES += AP_GPS
 LIBRARIES += AP_HAL
 LIBRARIES += AP_HAL_AVR
 LIBRARIES += AP_HAL_Empty
+LIBRARIES += AP_HAL_Linux
 LIBRARIES += AP_HAL_PX4
 LIBRARIES += AP_HAL_SITL
 LIBRARIES += AP_InertialSensor
@@ -18,6 +19,7 @@ LIBRARIES += AP_Math
 LIBRARIES += AP_Mission
 LIBRARIES += AP_NavEKF
 LIBRARIES += AP_Notify
+LIBRARIES += AP_OpticalFlow
 LIBRARIES += AP_Param
 LIBRARIES += AP_Progmem
 LIBRARIES += AP_Rally
@@ -28,4 +30,5 @@ LIBRARIES += AP_Vehicle
 LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
+LIBRARIES += SITL
 LIBRARIES += StorageManager