From a32738fd5f982e3ef0e3f263cc3f691bce794e5a Mon Sep 17 00:00:00 2001
From: Julien BERAUD <julien.beraud@parrot.com>
Date: Tue, 8 Dec 2015 11:38:43 +0100
Subject: [PATCH] AP_OpticalFlow: Update test declaration

Declare a dummy vehicle to get a dummy ahrs. No problem since this code
is not used apart from compilation. Needed to declare an optical flow.
---
 .../AP_OpticalFlow_test.cpp                   | 25 ++++++++++++++++++-
 .../examples/AP_OpticalFlow_test/make.inc     |  4 +++
 2 files changed, 28 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
index 40debb68e0..31e8753a0b 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
@@ -3,12 +3,35 @@
  *  Code by Randy Mackay. DIYDrones.com
  */
 
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_GPS/AP_GPS.h>
 #include <AP_HAL/AP_HAL.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <AP_NavEKF2/AP_NavEKF2.h>
+#include <AP_NavEKF/AP_NavEKF.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static OpticalFlow optflow;
+class DummyVehicle {
+public:
+    AP_GPS gps;
+    AP_Baro barometer;
+    Compass compass;
+    AP_InertialSensor ins;
+    AP_SerialManager serial_manager;
+    RangeFinder sonar {serial_manager};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2,
+                        AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    NavEKF EKF{&ahrs, barometer, sonar};
+    NavEKF2 EKF2{&ahrs, barometer, sonar};
+};
+
+static DummyVehicle vehicle;
+static OpticalFlow optflow(vehicle.ahrs);
 
 void setup()
 {
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/make.inc b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/make.inc
index 9a70c94fe3..9831431a03 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/make.inc
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/make.inc
@@ -21,3 +21,7 @@ LIBRARIES += DataFlash
 LIBRARIES += Filter
 LIBRARIES += GCS_MAVLink
 LIBRARIES += StorageManager
+LIBRARIES += AP_NavEKF
+LIBRARIES += AP_NavEKF2
+LIBRARIES += AP_RangeFinder
+LIBRARIES += AP_SerialManager