From 0076413c0a7009defb8af3611b6b6453bf63a4b8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 6 Jan 2015 14:02:57 +1100
Subject: [PATCH] SITL: produce flow data at the requested rate

---
 libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp b/libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp
index 35f93e6234..69a6733d12 100644
--- a/libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp
+++ b/libraries/AP_HAL_AVR_SITL/sitl_optical_flow.cpp
@@ -30,12 +30,20 @@ void SITL_State::_update_flow(void)
 {
     double p, q, r;
     Vector3f gyro;
+    static uint32_t last_flow_ms;
 
     if (!_optical_flow ||
         !_sitl->flow_enable) {
         return;
     }
 
+    // update at the requested rate
+    uint32_t now = hal.scheduler->millis();
+    if (now - last_flow_ms < 1000*(1.0f/_sitl->flow_rate)) {
+        return;
+    }
+    last_flow_ms = now;
+
     // convert roll rates to body frame
     SITL::convert_body_frame(_sitl->state.rollDeg,
                              _sitl->state.pitchDeg,