From bcd63a980796f04a82ed102b6c6b149e7914eaaf Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 14 Jan 2012 12:34:29 +0900
Subject: [PATCH] OpticalFlow - bug fix - highest resolution was incorrectly
 set as 1200 instead of 1600

---
 .../AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp      | 13 +++++++++----
 libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h  |  6 +++---
 .../AP_OpticalFlow_test/AP_OpticalFlow_test.pde     |  5 ++---
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
index 3ea0e60590..dfd6ae870e 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
@@ -237,17 +237,17 @@ AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
 	write_register(ADNS3080_CONFIGURATION_BITS, regVal);
 }
 
-// returns resolution (either 400 or 1200 counts per inch)
+// returns resolution (either 400 or 1600 counts per inch)
 int
 AP_OpticalFlow_ADNS3080::get_resolution()
 {
     if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
 	    return 400;
 	else
-	    return 1200;
+	    return 1600;
 }
 
-// set parameter to 400 or 1200 counts per inch
+// set parameter to 400 or 1600 counts per inch
 void
 AP_OpticalFlow_ADNS3080::set_resolution(int resolution)
 {
@@ -255,12 +255,17 @@ AP_OpticalFlow_ADNS3080::set_resolution(int resolution)
 
     if( resolution == ADNS3080_RESOLUTION_400 )	{
 	    regVal &= ~0x10;
-	}else if( resolution == ADNS3080_RESOLUTION_1200) {
+		scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
+	}else if( resolution == ADNS3080_RESOLUTION_1600) {
 	    regVal |= 0x10;
+		scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
 	}
 
 	delayMicroseconds(50);  // small delay
 	write_register(ADNS3080_CONFIGURATION_BITS, regVal);
+
+	// this will affect conversion factors so update them
+	update_conversion_factors();
 }
 
 // get_frame_rate_auto - return whether frame rate is set to "auto" or manual
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
index 79be9492ee..bd257c986f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
@@ -77,7 +77,7 @@
 #define ADNS3080_LED_MODE_WHEN_REQUIRED    0x01
 
 #define ADNS3080_RESOLUTION_400			400
-#define ADNS3080_RESOLUTION_1200		1200
+#define ADNS3080_RESOLUTION_1600		1600
 
 // Extended Configuration bits
 #define ADNS3080_SERIALNPU_OFF	0x02
@@ -118,8 +118,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
 	bool get_led_always_on();                    // returns true if LED is always on, false if only on when required
 	void set_led_always_on( bool alwaysOn );     // set parameter to true if you want LED always on, otherwise false for only when required
 
-	int get_resolution();							// returns resolution (either 400 or 1200 counts per inch)
-	void set_resolution(int resolution);            // set parameter to 400 or 1200 counts per inch
+	int get_resolution();							// returns resolution (either 400 or 1600 counts per inch)
+	void set_resolution(int resolution);            // set parameter to 400 or 1600 counts per inch
 
 	bool get_frame_rate_auto();                      // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
 	void set_frame_rate_auto(bool auto_frame_rate);  // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
index 197845c31f..fa369532ce 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
@@ -201,7 +201,7 @@ void set_resolution()
     Serial.print("resolution: ");
 	Serial.println(resolution);
 	Serial.println("Choose new value:");
-	Serial.println("    1) 1200");
+	Serial.println("    1) 1600");
 	Serial.println("    4) 400");
 	Serial.println("    x) exit");
 	Serial.println();
@@ -215,10 +215,9 @@ void set_resolution()
 	
 	// update resolution
 	if( value == '1' ) {
-	    flowSensor.set_resolution(ADNS3080_RESOLUTION_1200);
+	    flowSensor.set_resolution(ADNS3080_RESOLUTION_1600);
 	}
 	if( value == '4' ) {
-	    Serial.println("you want 1200!");
 	    flowSensor.set_resolution(ADNS3080_RESOLUTION_400);
 	}