Copter: integrate optflow_enable param move to optflow class

ArduCopter/GCS_Mavlink.pde

@@ -153,7 +153,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
     }
 #if OPTFLOW == ENABLED
-    if (g.optflow_enabled) {
+    if (optflow.enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
     }
 #endif

ArduCopter/sensors.pde

@@ -93,9 +93,14 @@ static void init_compass()
 static void init_optflow()
 {
 #if OPTFLOW == ENABLED
+    // exit immediately if not enabled
+    if (!optflow.enabled()) {
+        return;
+    }
+
+    // initialise sensor and display error on failure
     optflow.init();
     if (!optflow.healthy()) {
-        g.optflow_enabled = false;
         cliSerial->print_P(PSTR("Failed to Init OptFlow\n"));
         Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
     }

ArduCopter/setup.pde

@@ -386,7 +386,7 @@ void report_optflow()
     cliSerial->printf_P(PSTR("OptFlow\n"));
     print_divider();
 
-    print_enabled(g.optflow_enabled);
+    print_enabled(optflow.enabled());
 
     print_blanks(2);
  #endif     // OPTFLOW == ENABLED

ArduCopter/system.pde

@@ -222,9 +222,7 @@ static void init_ardupilot()
     pos_control.set_dt(MAIN_LOOP_SECONDS);
 
     // init the optical flow sensor
-    if(g.optflow_enabled) {
     init_optflow();
-    }
 
     // initialise inertial nav
     inertial_nav.init();

ArduCopter/test.pde

@@ -198,17 +198,18 @@ static int8_t
 test_optflow(uint8_t argc, const Menu::arg *argv)
 {
 #if OPTFLOW == ENABLED
-    if(g.optflow_enabled) {
+    if(optflow.enabled()) {
-        cliSerial->printf_P(PSTR("man id: %d\t"),optflow.read_register(ADNS3080_PRODUCT_ID));
+        cliSerial->printf_P(PSTR("dev id: %d\t"),(int)optflow.device_id());
         print_hit_enter();
 
         while(1) {
             delay(200);
             optflow.update();
+            const Vector2i& raw = optflow.raw();
             cliSerial->printf_P(PSTR("dx:%d\t dy:%d\t squal:%d\n"),
-                            optflow.dx,
+                            (int)raw.x,
-                            optflow.dy,
+                            (int)raw.y,
-                            optflow.surface_quality);
+                            (int)optflow.quality());
 
             if(cliSerial->available() > 0) {
                 return (0);