From bf474028ff8589f6e86765f4958e60f94db77b4d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 5 Aug 2019 15:48:24 -0400
Subject: [PATCH] px4flow add parameter to enable (SENS_EN_PX4FLOW)

 - fixes https://github.com/PX4/Firmware/issues/12571
---
 ROMFS/px4fmu_common/init.d/rcS                |  5 ++-
 src/drivers/optical_flow/px4flow/parameters.c | 42 +++++++++++++++++++
 2 files changed, 46 insertions(+), 1 deletion(-)
 create mode 100644 src/drivers/optical_flow/px4flow/parameters.c

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index d0f00febbc..0e3cc63873 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -457,7 +457,10 @@ else
 	fi
 
 	# Check for flow sensor, launched as a background task to scan
-	px4flow start &
+	if param compare SENS_EN_PX4FLOW 1
+	then
+		px4flow start &
+	fi
 
 	# Blacksheep telemetry
 	if param greater TEL_BST_EN 0
diff --git a/src/drivers/optical_flow/px4flow/parameters.c b/src/drivers/optical_flow/px4flow/parameters.c
new file mode 100644
index 0000000000..485dd08416
--- /dev/null
+++ b/src/drivers/optical_flow/px4flow/parameters.c
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * PX4 Flow Optical Flow
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_EN_PX4FLOW, 0);