From 898ad7432b3b60bb700fa7b2518a736ac091a503 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 3 Nov 2014 18:33:56 +1100
Subject: [PATCH] Plane : Only build optical flow with PX4 board

Fixes SITL compile errors
---
 ArduPlane/config.h   | 10 +++-------
 ArduPlane/system.pde |  3 +++
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 17a5b71b43..b105c64485 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -80,10 +80,6 @@
  #ifndef FRSKY_TELEM_ENABLED
  # define FRSKY_TELEM_ENABLED DISABLED
  #endif
-#ifndef OPTFLOW
-# define OPTFLOW DISABLED
-#endif
-
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -144,10 +140,10 @@
 //
 
 #ifndef OPTFLOW
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
- # define OPTFLOW DISABLED
-#else
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
  # define OPTFLOW ENABLED
+#else
+ # define OPTFLOW DISABLED
 #endif
 #endif
 
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 5c34cef30c..b3c313794b 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -220,7 +220,10 @@ static void init_ardupilot()
     reset_control_switch();
 
     // initialise sensor
+#if OPTFLOW == ENABLED
     optflow.init();
+#endif
+
 }
 
 //********************************************************************************