diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp index 0fc29d658dfe12bb750057328488a6926a176838..9ba3c142bbc81bdc124269eef3a1cde59fdf1edb 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp @@ -528,7 +528,7 @@ AP_OpticalFlow_ADNS3080::clear_motion() // get_pixel_data - captures an image from the sensor and stores it to the pixe_data array void -AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort) +AP_OpticalFlow_ADNS3080::print_pixel_data() { int16_t i,j; bool isFirstPixel = true; @@ -546,16 +546,16 @@ AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort) for( j=0; j<ADNS3080_PIXELS_X; j++ ) { regValue = read_register(ADNS3080_FRAME_CAPTURE); if( isFirstPixel && (regValue & 0x40) == 0 ) { - serPort->println("failed to find first pixel"); + Serial.print_P(PSTR("failed to find first pixel")); } isFirstPixel = false; pixelValue = ( regValue << 2); - serPort->print(pixelValue,DEC); + Serial.print(pixelValue,DEC); if( j!= ADNS3080_PIXELS_X-1 ) - serPort->print(","); + Serial.print_P(PSTR(",")); delayMicroseconds(50); } - serPort->println(); + Serial.println(); } // hardware reset to restore sensor to normal operation diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h index 3a82c9f9827e40156a73abf5a95f0fc4dbddbb04..e0f9b00ee11cf3aca5242aef709d66f5530b02da 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h @@ -122,7 +122,7 @@ public: void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared - void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port + void print_pixel_data(); // dumps a 30x30 image to the Serial port private: // bytes to store SPI settings