From d1babdb0fb0919665d71c097b20702db6f87a8d7 Mon Sep 17 00:00:00 2001 From: mirkix Date: Sat, 6 Feb 2016 21:16:34 +0100 Subject: [PATCH] AP_OpticalFlow: Enable optical flow onboard for BBBMINI --- libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp | 3 ++- libraries/AP_OpticalFlow/OpticalFlow.cpp | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp index d9d81a25bd..07512ecde3 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp @@ -20,7 +20,8 @@ #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX &&\ (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE) + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI) //#define FLOWONBOARD_DEBUG 1 #define OPTICALFLOW_ONBOARD_ID 1 extern const AP_HAL::HAL& hal; diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index b651fe5e12..979996e145 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -47,7 +47,8 @@ OpticalFlow::OpticalFlow(AP_AHRS_NavEKF& ahrs) : #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL backend(new AP_OpticalFlow_HIL(*this)), #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\ - CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE ||\ + CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI backend(new AP_OpticalFlow_Onboard(*this, ahrs)), #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX backend(new AP_OpticalFlow_Linux(*this)),