Copter: move update_optflow to sensors.pde

No functional change

ArduCopter/ArduCopter.pde

@@ -1180,36 +1180,6 @@ static void one_hz_loop()
 #endif
 }
 
-// called at 200hz
-#if OPTFLOW == ENABLED
-static void update_optical_flow(void)
-{
-    static uint32_t last_of_update = 0;
-
-    // exit immediately if not enabled
-    if (!optflow.enabled()) {
-        return;
-    }
-
-    // read from sensor
-    optflow.update();
-
-    // write to log and send to EKF if new data has arrived
-    if (optflow.last_update() != last_of_update) {
-        last_of_update = optflow.last_update();
-        uint8_t flowQuality = optflow.quality();
-        Vector2f flowRate = optflow.flowRate();
-        Vector2f bodyRate = optflow.bodyRate();
-        // Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
-        float ground_distance_m = 0.01f*float(sonar_alt);
-        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, sonar_alt_health, ground_distance_m);
-         if (g.log_bitmask & MASK_LOG_OPTFLOW) {
-            Log_Write_Optflow();
-        }
-    }
-}
-#endif  // OPTFLOW == ENABLED
-
 // called at 50hz
 static void update_GPS(void)
 {

ArduCopter/sensors.pde

@@ -109,6 +109,36 @@ static void init_optflow()
 #endif      // OPTFLOW == ENABLED
 }
 
+// called at 200hz
+#if OPTFLOW == ENABLED
+static void update_optical_flow(void)
+{
+    static uint32_t last_of_update = 0;
+
+    // exit immediately if not enabled
+    if (!optflow.enabled()) {
+        return;
+    }
+
+    // read from sensor
+    optflow.update();
+
+    // write to log and send to EKF if new data has arrived
+    if (optflow.last_update() != last_of_update) {
+        last_of_update = optflow.last_update();
+        uint8_t flowQuality = optflow.quality();
+        Vector2f flowRate = optflow.flowRate();
+        Vector2f bodyRate = optflow.bodyRate();
+        // Use range from a separate range finder if available, not the PX4Flows built in sensor which is ineffective
+        float ground_distance_m = 0.01f*float(sonar_alt);
+        ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, sonar_alt_health, ground_distance_m);
+         if (g.log_bitmask & MASK_LOG_OPTFLOW) {
+            Log_Write_Optflow();
+        }
+    }
+}
+#endif  // OPTFLOW == ENABLED
+
 // read_battery - check battery voltage and current and invoke failsafe if necessary
 // called at 10hz
 static void read_battery(void)