Merge branch 'master' of https://code.google.com/p/ardupilot-mega

ArduCopter/ArduCopter.pde

@@ -200,7 +200,7 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
 	AP_DCM  dcm(&imu, g_gps);
 
  	#ifdef OPTFLOW_ENABLED
-	AP_OpticalFlow_ADNS3080 optflow();
+	AP_OpticalFlow_ADNS3080 optflow;
  	#endif
 #endif
 

ArduCopter/Log.pde

@@ -503,8 +503,8 @@ static void Log_Write_Optflow()
 	DataFlash.WriteInt((int)optflow.dx);
 	DataFlash.WriteInt((int)optflow.dy);
 	DataFlash.WriteInt((int)optflow.surface_quality);
-	DataFlash.WriteLong(optflow.lat);//optflow_offset.lat + optflow.lat);
-	DataFlash.WriteLong(optflow.lon);//optflow_offset.lng + optflow.lng);
+	DataFlash.WriteLong(optflow.vlat);//optflow_offset.lat + optflow.lat);
+	DataFlash.WriteLong(optflow.vlon);//optflow_offset.lng + optflow.lng);
 	DataFlash.WriteByte(END_BYTE);
 }
 #endif