From d86c1c6fd183f2f57af6a8959b079daf764c2836 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 6 Jan 2022 09:24:38 +1100
Subject: [PATCH] AP_OpticalFlow: fix example when OpticalFlow compiled out

---
 .../examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp  | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
index e6b59c1e39..957c100bd8 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
@@ -31,7 +31,9 @@ public:
 };
 
 static DummyVehicle vehicle;
+#if AP_OPTICALFLOW_ENABLED
 static OpticalFlow optflow;
+#endif
 
 void setup()
 {
@@ -39,12 +41,16 @@ void setup()
 
     hal.scheduler->delay(1000);
 
+#if AP_OPTICALFLOW_ENABLED
     // flowSensor initialization
     optflow.init(-1);
 
     if (!optflow.healthy()) {
-        hal.console->printf("Failed to initialise PX4Flow ");
+        hal.console->printf("Failed to initialise OpticalFlow");
     }
+#else
+    hal.console->printf("OpticalFlow compiled out");
+#endif
 
     hal.scheduler->delay(1000);
 }