From ca53d5fb62d2dbc899ab17f6a4a90c42b6dd6585 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 7 Nov 2014 05:39:24 +1100
Subject: [PATCH] Plane: Increase rate at which optical flow sensor is checked

The sensor driver runs asynchronously at 10Hz, so needs to be checked frequently for arrival of data.
---
 ArduPlane/ArduPlane.pde | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 61bcbc69e1..269cda3783 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -809,7 +809,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { update_notify,          1,    300 },
     { read_rangefinder,       1,    500 },
 #if OPTFLOW == ENABLED
-    { update_optical_flow,    5,    500 },
+    { update_optical_flow,    1,    500 },
 #endif
     { one_second_loop,       50,   1000 },
     { check_long_failsafe,   15,   1000 },
@@ -1562,7 +1562,8 @@ static void update_flight_stage(void)
 }
 
 #if OPTFLOW == ENABLED
-// called at 10hz
+// called at 50hz, however optical flow sesnor driver is gathering data asynchronously
+// at 10Hz, so there will be up to 20msec of intersampling delay
 static void update_optical_flow(void)
 {
     static uint32_t last_of_update = 0;