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AP_OpticalFlow: Enable optical flow onboard for BBBMINI

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mirkix 2016-02-06 21:16:34 +01:00 committed by Lucas De Marchi
parent 5b8de06beb
commit d1babdb0fb
2 changed files with 4 additions and 2 deletions
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3
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
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@ -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;

3
libraries/AP_OpticalFlow/OpticalFlow.cpp
View File

@ -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)),