AP_OpticalFlow: support SP01 board

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp

@@ -80,17 +80,17 @@ extern const AP_HAL::HAL& hal;
 #define PIXART_SROM_CRC_RESULT 0xBEEF
 
 // constructor
-AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(OpticalFlow &_frontend) :
+AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(const char *devname, OpticalFlow &_frontend) :
     OpticalFlow_backend(_frontend)
 {
-    _dev = std::move(hal.spi->get_device("pixartflow"));
+    _dev = std::move(hal.spi->get_device(devname));
 }
 
 
 // detect the device
-AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(OpticalFlow &_frontend)
+AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(const char *devname, OpticalFlow &_frontend)
 {
-    AP_OpticalFlow_Pixart *sensor = new AP_OpticalFlow_Pixart(_frontend);
+    AP_OpticalFlow_Pixart *sensor = new AP_OpticalFlow_Pixart(devname, _frontend);
     if (!sensor) {
         return nullptr;
     }

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h

@@ -7,7 +7,7 @@ class AP_OpticalFlow_Pixart : public OpticalFlow_backend
 {
 public:
     /// constructor
-    AP_OpticalFlow_Pixart(OpticalFlow &_frontend);
+    AP_OpticalFlow_Pixart(const char *devname, OpticalFlow &_frontend);
 
     // init - initialise the sensor
     void init() override {}
@@ -16,7 +16,7 @@ public:
     void update(void) override;
 
     // detect if the sensor is available
-    static AP_OpticalFlow_Pixart *detect(OpticalFlow &_frontend);
+    static AP_OpticalFlow_Pixart *detect(const char *devname, OpticalFlow &_frontend);
 
 private:
     AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;

libraries/AP_OpticalFlow/OpticalFlow.cpp

@@ -91,9 +91,13 @@ void OpticalFlow::init(void)
     if (!backend) {
 #if AP_FEATURE_BOARD_DETECT
         if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK ||
+            AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 ||
             AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PCNC1) {
             // possibly have pixhart on external SPI
-            backend = AP_OpticalFlow_Pixart::detect(*this);
+            backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
+        }
+        if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_SP01) {
+            backend = AP_OpticalFlow_Pixart::detect("pixartPC15", *this);
         }
         if (backend == nullptr) {
             backend = AP_OpticalFlow_PX4Flow::detect(*this);
@@ -106,7 +110,7 @@ void OpticalFlow::init(void)
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
         backend = AP_OpticalFlow_PX4Flow::detect(*this);
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-        backend = AP_OpticalFlow_Pixart::detect(*this);
+        backend = AP_OpticalFlow_Pixart::detect("pixartflow", *this);
 #endif
     }