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Copter: update for new OptFlow API

This commit is contained in:
Andrew Tridgell 2015-01-02 19:30:44 +11:00
parent 11ff12dfd3
commit c784ee717b
2 changed files with 3 additions and 3 deletions
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4
ArduCopter/ArduCopter.pde
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@ -314,8 +314,8 @@ AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Optical flow sensor // Optical flow sensor
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if OPTFLOW == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if OPTFLOW == ENABLED
static AP_OpticalFlow_PX4 optflow(ahrs); static OpticalFlow optflow;
#endif #endif
// gnd speed limit required to observe optical flow sensor limits // gnd speed limit required to observe optical flow sensor limits

2
ArduCopter/config.h
View File

@ -388,7 +388,7 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW // OPTICAL_FLOW
#ifndef OPTFLOW #ifndef OPTFLOW
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
# define OPTFLOW ENABLED # define OPTFLOW ENABLED
#else #else
# define OPTFLOW DISABLED # define OPTFLOW DISABLED