From ca31ced2b4fe26b74046e631f7359b8b335b103e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p-riseborough@live.com.au>
Date: Tue, 10 Nov 2015 18:17:16 +1100
Subject: [PATCH] AP_NavEKF2: Fix bug preventing use of optical flow with
 multiple IMU's

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index f94a7c25df..8bb068cf8f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -823,7 +823,9 @@ bool NavEKF2::use_compass(void) const
 void NavEKF2::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas)
 {
     if (core) {
-        core[primary].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
+        for (uint8_t i=0; i<num_cores; i++) {
+            core[i].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
+        }
     }
 }