From c93c7af20cf844bdfd90854c2cad39a48bfbe318 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 8 Dec 2014 10:29:32 +0900
Subject: [PATCH] Copter: move update_optflow to sensors.pde

No functional change
---
 ArduCopter/ArduCopter.pde | 30 ------------------------------
 ArduCopter/sensors.pde    | 30 ++++++++++++++++++++++++++++++
 2 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index db296b1d7d..a1e8a4a55c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1180,36 +1180,6 @@ static void one_hz_loop()
 #endif
 }
 
-// called at 200hz
-#if OPTFLOW == ENABLED
-static void update_optical_flow(void)
-{
-    static uint32_t last_of_update = 0;
-
-    // exit immediately if not enabled
-    if (!optflow.enabled()) {
-        return;
-    }
-
-    // read from sensor
-    optflow.update();
-
-    // write to log and send to EKF if new data has arrived
-    if (optflow.last_update() != last_of_update) {
-        last_of_update = optflow.last_update();
-        uint8_t flowQuality = optflow.quality();
-        Vector2f flowRate = optflow.flowRate();
-        Vector2f bodyRate = optflow.bodyRate();
-        // Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
-        float ground_distance_m = 0.01f*float(sonar_alt);
-        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, sonar_alt_health, ground_distance_m);
-         if (g.log_bitmask & MASK_LOG_OPTFLOW) {
-            Log_Write_Optflow();
-        }
-    }
-}
-#endif  // OPTFLOW == ENABLED
-
 // called at 50hz
 static void update_GPS(void)
 {
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 2d5a5215be..c81968261e 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -109,6 +109,36 @@ static void init_optflow()
 #endif      // OPTFLOW == ENABLED
 }
 
+// called at 200hz
+#if OPTFLOW == ENABLED
+static void update_optical_flow(void)
+{
+    static uint32_t last_of_update = 0;
+
+    // exit immediately if not enabled
+    if (!optflow.enabled()) {
+        return;
+    }
+
+    // read from sensor
+    optflow.update();
+
+    // write to log and send to EKF if new data has arrived
+    if (optflow.last_update() != last_of_update) {
+        last_of_update = optflow.last_update();
+        uint8_t flowQuality = optflow.quality();
+        Vector2f flowRate = optflow.flowRate();
+        Vector2f bodyRate = optflow.bodyRate();
+        // Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
+        float ground_distance_m = 0.01f*float(sonar_alt);
+        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, sonar_alt_health, ground_distance_m);
+         if (g.log_bitmask & MASK_LOG_OPTFLOW) {
+            Log_Write_Optflow();
+        }
+    }
+}
+#endif  // OPTFLOW == ENABLED
+
 // read_battery - check battery voltage and current and invoke failsafe if necessary
 // called at 10hz
 static void read_battery(void)