From ed510d4f87f278ae9f700a179959a365aaa33f2a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Dec 2014 18:14:43 +1100
Subject: [PATCH] AP_OpticalFlow: run PX4 flow sensor at 10Hz

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
---
 libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
index 2871e5a89f..266e69e680 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
@@ -47,6 +47,11 @@ void AP_OpticalFlow_PX4::init(void)
         return;
     }
 
+    // change to 10Hz update
+    if (ioctl(_fd, SENSORIOCSPOLLRATE, 10) != 0) {
+        hal.console->printf("Unable to set flow rate to 10Hz\n");        
+    }
+
     // if we got this far, the sensor must be healthy
     _flags.healthy = true;
 }