From ab62105afe511717add78ef64a219ba31c61615b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 3 Jan 2015 15:53:49 +1100
Subject: [PATCH] Copter: use common send_opticalflow()

---
 ArduCopter/GCS_Mavlink.pde | 28 +---------------------------
 ArduCopter/config.h        |  2 +-
 2 files changed, 2 insertions(+), 28 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index f856fd4410..b510380fa9 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -441,32 +441,6 @@ static void NOINLINE send_rangefinder(mavlink_channel_t chan)
 }
 #endif
 
-#if OPTFLOW == ENABLED
-static void NOINLINE send_opticalflow(mavlink_channel_t chan)
-{
-    // exit immediately if no optical flow sensor or not healthy
-    if (!optflow.healthy()) {
-        return;
-    }
-
-    // get rates from sensor
-    const Vector2f &flowRate = optflow.flowRate();
-    const Vector2f &bodyRate = optflow.bodyRate();
-
-    // populate and send message
-    mavlink_msg_optical_flow_send(
-        chan,
-        millis(),
-        0, // sensor id is zero
-        flowRate.x,
-        flowRate.y,
-        bodyRate.x,
-        bodyRate.y,
-        optflow.quality(),
-        0); // ground distance (in meters) set to zero
-}
-#endif // OPTFLOW == ENABLED
-
 static void NOINLINE send_statustext(mavlink_channel_t chan)
 {
     mavlink_statustext_t *s = &gcs[chan-MAVLINK_COMM_0].pending_status;
@@ -674,7 +648,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
     case MSG_OPTICAL_FLOW:
 #if OPTFLOW == ENABLED
         CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);
-        send_opticalflow(chan);
+        gcs[chan-MAVLINK_COMM_0].send_opticalflow(ahrs, optflow);
 #endif
         break;
 
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index dfc51baf49..f9edb93b68 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -388,7 +388,7 @@
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #ifndef OPTFLOW
- #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
+ #if AP_AHRS_NAVEKF_AVAILABLE
   # define OPTFLOW       ENABLED
  #else
   # define OPTFLOW       DISABLED