From 577f18a09ccc92add21dc302aaad160072115983 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sat, 21 Apr 2012 20:11:18 +0900
Subject: [PATCH] AP_OpticalFlow - updated test sketch to allow testing of APM2
 version

---
 .../AP_OpticalFlow_test/AP_OpticalFlow_test.pde  | 16 +++++++++-------
 libraries/AP_OpticalFlow/keywords.txt            |  1 +
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
index 5e8324651..b959dc7d1 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
@@ -19,19 +19,21 @@
 //
 FastSerialPort0(Serial);        // FTDI/console
 
-AP_OpticalFlow_ADNS3080 flowSensor;
-//AP_OpticalFlow_ADNS3080 flowSensor(A3);  // override chip select pin to use A3 if using APM2
+AP_OpticalFlow_ADNS3080 flowSensor;		// for APM1
+//AP_OpticalFlow_ADNS3080_APM2 flowSensor(A3);  // override chip select pin to use A3 if using APM2
 
 void setup()
-{  
+{
 	Serial.begin(115200);
 	Serial.println("ArduPilot Mega OpticalFlow library test ver 1.5");
 
 	delay(1000);
-	
+
 	// flowSensor initialization
-	if( flowSensor.init() == false )
-	    Serial.println("Failed to initialise ADNS3080");
+	if( flowSensor.init(true) == false ) {
+	    Serial.print("Failed to initialise ADNS3080 ");
+	}
+
 	flowSensor.set_orientation(AP_OPTICALFLOW_ADNS3080_PINS_FORWARD);
 	flowSensor.set_field_of_view(AP_OPTICALFLOW_ADNS3080_08_FOV);
 	
@@ -336,7 +338,7 @@ void display_motion()
 void loop()
 {
 	int value;
-	
+
 	// display menu to user
 	display_menu();
 	
diff --git a/libraries/AP_OpticalFlow/keywords.txt b/libraries/AP_OpticalFlow/keywords.txt
index 1bcb81259..8393f31ec 100644
--- a/libraries/AP_OpticalFlow/keywords.txt
+++ b/libraries/AP_OpticalFlow/keywords.txt
@@ -1,5 +1,6 @@
 AP_OpticalFlow	KEYWORD1
 AP_OpticalFlow_ADNS3080	KEYWORD1
+AP_OpticalFlow_ADNS3080_APM2	KEYWORD1
 init	KEYWORD2
 read	KEYWORD2
 update	KEYWORD2
-- 
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