ArduCopter - changed optflow object to be APM2 version if necessary

13 years ago · 3e95ade004
1 changed files with 5 additions and 1 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -199,7 +199,11 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
				@@ -199,7 +199,11 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
 #endif

 #ifdef OPTFLOW_ENABLED
-	AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
+	#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+		AP_OpticalFlow_ADNS3080_APM2 optflow(OPTFLOW_CS_PIN);
+	#else
+		AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
+	#endif
 #else
    AP_OpticalFlow optflow;
 #endif