From 788bb8ab9fd1b233b356487090b73964590f8e80 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 3 Jan 2015 11:15:46 +1100
Subject: [PATCH] Copter: make optflow available to AHRS

---
 ArduCopter/system.pde | 3 +++
 ArduCopter/test.pde   | 1 +
 2 files changed, 4 insertions(+)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 8ffd7d2b79..dde3e35de2 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -216,6 +216,9 @@ static void init_ardupilot()
     if(g.compass_enabled)
         init_compass();
 
+    // make optflow available to AHRS
+    ahrs.set_optflow(&optflow);
+
     // initialise attitude and position controllers
     attitude_control.set_dt(MAIN_LOOP_SECONDS);
     pos_control.set_dt(MAIN_LOOP_SECONDS);
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index d9f8ce4703..dd9aa6eebf 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -96,6 +96,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
     ahrs.init();
     ahrs.set_fly_forward(true);
     ahrs.set_compass(&compass);
+    ahrs.set_optflow(&optflow);
     report_compass();
 
     // we need the AHRS initialised for this test