From d2cb4db191ede1b3d4a0ce39aa05411f32adfb09 Mon Sep 17 00:00:00 2001 From: auturgy Date: Sun, 11 Nov 2018 11:08:17 +1100 Subject: [PATCH] AP_OpticalFlow: add defined(HAL_HAVE_PIXARTFLOW_SPI) This addition will build in support for the Pixart pmw3901 if it is defined in the hwdef.dat for a board --- libraries/AP_OpticalFlow/OpticalFlow.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp index 512c1748ed..3c97f4f37e 100644 --- a/libraries/AP_OpticalFlow/OpticalFlow.cpp +++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp @@ -105,6 +105,8 @@ void OpticalFlow::init(void) backend = AP_OpticalFlow_PX4Flow::detect(*this); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412 backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this); +#elif defined(HAL_HAVE_PIXARTFLOW_SPI) + backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this); #endif }