From aba829678a260874683faa2f27b554153aeee65b Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 8 Dec 2014 11:16:33 +0900 Subject: [PATCH] Copter: optflow instantiation format change No functional change --- ArduCopter/ArduCopter.pde | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index a1e8a4a55c..3ac4edad52 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -314,11 +314,10 @@ AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission); //////////////////////////////////////////////////////////////////////////////// // Optical flow sensor //////////////////////////////////////////////////////////////////////////////// - #if OPTFLOW == ENABLED -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if OPTFLOW == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_PX4 static AP_OpticalFlow_PX4 optflow(ahrs); #endif - #endif + // gnd speed limit required to observe optical flow sensor limits static float ekfGndSpdLimit; // scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise