Plane: update for new OptFlow API

10 years ago · 8708297341
2 changed files with 3 additions and 5 deletions
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@ -316,12 +316,10 @@ static AP_Camera camera(&relay);
				@@ -316,12 +316,10 @@ static AP_Camera camera(&relay);
 ////////////////////////////////////////////////////////////////////////////////
 // Optical flow sensor
 ////////////////////////////////////////////////////////////////////////////////
-#if  CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static AP_OpticalFlow_PX4 optflow(ahrs);
-#endif
+static OpticalFlow optflow;

 //Rally Ponints
-AP_Rally rally(ahrs);
+static AP_Rally rally(ahrs);

 ////////////////////////////////////////////////////////////////////////////////
 // Global variables
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@ -140,7 +140,7 @@
				@@ -140,7 +140,7 @@
 //

 #ifndef OPTFLOW
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 # define OPTFLOW ENABLED
 #else
 # define OPTFLOW DISABLED