From 72db2ebd819782a53974c5543fabd656ef19fc90 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 12 Oct 2016 08:25:22 +1100
Subject: [PATCH] Plane: Add compensation for optical flow sensor body position
 offset

---
 ArduPlane/ArduPlane.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index f4eaac97f1..072452256a 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -1016,7 +1016,8 @@ void Plane::update_optical_flow(void)
         uint8_t flowQuality = optflow.quality();
         Vector2f flowRate = optflow.flowRate();
         Vector2f bodyRate = optflow.bodyRate();
-        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update);
+        Vector3f posOffset = optflow.get_pos_offset();
+        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, posOffset);
         Log_Write_Optflow();
     }
 }