From 22717f23bebd9f252da1476702c47f8c8a167dca Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 26 Nov 2016 14:23:50 +1100
Subject: [PATCH] AP_OpticalFlow: apply yaw for flow in all drivers

---
 libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp | 2 ++
 libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp    | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
index 4fb62a1c58..62bc4d641f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
@@ -77,6 +77,8 @@ void AP_OpticalFlow_Onboard::update()
 
         state.bodyRate.y = 1.0f / float(data_frame.delta_time) *
                            data_frame.gyro_y_integral;
+
+        _applyYaw(state.flowRate);
     } else {
         state.flowRate.zero();
         state.bodyRate.zero();
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
index 69c87b9d03..728d470459 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
@@ -117,6 +117,8 @@ void AP_OpticalFlow_SITL::update(void)
         }
     }
 
+    _applyYaw(state.flowRate);
+    
     // copy results to front end
     _update_frontend(state);
 }