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i2c Port Help!!

hi to all...it's possibel to any help me with read 2 bytes of data in the i2c port...in the old librarys i read the data but in the new hal library no work...

i use this in arduplane 2.68 code with librarys ; my sensor address is  0X75...and put in th

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Adding Custom Optical Flow Code

Here is my situation. I have my own camera setup and code that I have written to proform optical flow on a ATMEGA 2560 and now I need to incorporate this onto the ARDUPILOT 2.5. 

Question:

Where header file should I be modifying to ad my code in. I kno

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