From c784ee717b42e672c3c1a4e45d3255906459131a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 2 Jan 2015 19:30:44 +1100
Subject: [PATCH] Copter: update for new OptFlow API

---
 ArduCopter/ArduCopter.pde | 4 ++--
 ArduCopter/config.h       | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index ef8f4d85b..02b4f96a3 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -314,8 +314,8 @@ AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
 ////////////////////////////////////////////////////////////////////////////////
 // Optical flow sensor
 ////////////////////////////////////////////////////////////////////////////////
-#if OPTFLOW == ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static AP_OpticalFlow_PX4 optflow(ahrs);
+#if OPTFLOW == ENABLED
+static OpticalFlow optflow;
 #endif
 
 // gnd speed limit required to observe optical flow sensor limits
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index bac32fc72..dfc51baf4 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -388,7 +388,7 @@
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #ifndef OPTFLOW
- #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+ #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
   # define OPTFLOW       ENABLED
  #else
   # define OPTFLOW       DISABLED
-- 
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