From d2afa1cac8a45d2012d0982b8800af00eb2a96b6 Mon Sep 17 00:00:00 2001
From: Julien Beraud <julien.beraud@parrot.com>
Date: Tue, 17 Jan 2017 17:50:38 +0100
Subject: [PATCH] AP_AHRS_NavEKF: Push gyro bias for optical flow

Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index ec6703a6bf..6a30355383 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -90,6 +90,12 @@ void AP_AHRS_NavEKF::update(void)
 
     // call AHRS_update hook if any
     AP_Module::call_hook_AHRS_update(*this);
+
+    // push gyros if optical flow present
+    if (hal.opticalflow) {
+        Vector3f exported_gyro_bias = get_gyro_drift();
+        hal.opticalflow->push_gyro_bias(exported_gyro_bias.x, exported_gyro_bias.y);
+    }
 }
 
 void AP_AHRS_NavEKF::update_DCM(void)