From cadfdadf900c3ab4a13061637cad0288b6fe8f2b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 11 Feb 2023 10:33:06 +1100
Subject: [PATCH] AP_DAL: add and use pr/EK3_FEATURE_OPTFLOW_FUSION

---
 libraries/AP_DAL/AP_DAL.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 779bb88b1f053e..352e97b14f8b96 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -7,6 +7,7 @@
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_WheelEncoder/AP_WheelEncoder.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_NavEKF3/AP_NavEKF3_feature.h>
 
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
 #include <AP_NavEKF2/AP_NavEKF2.h>
@@ -73,7 +74,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _RFRN.ahrs_airspeed_sensor_enabled = ahrs.airspeed_sensor_enabled(ahrs.get_active_airspeed_index());
     _RFRN.available_memory = hal.util->available_memory();
     _RFRN.ahrs_trim = ahrs.get_trim();
-#if AP_OPTICALFLOW_ENABLED
+#if EK3_FEATURE_OPTFLOW_FUSION
     _RFRN.opticalflow_enabled = AP::opticalflow() && AP::opticalflow()->enabled();
 #endif
     _RFRN.wheelencoder_enabled = AP::wheelencoder() && (AP::wheelencoder()->num_sensors() > 0);
@@ -467,7 +468,9 @@ void AP_DAL::handle_message(const log_ROFH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
 {
     _ROFH = msg;
     ekf2.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
+#if EK3_FEATURE_OPTFLOW_FUSION
     ekf3.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
+#endif
 }
 
 /*