![]() Maybe optical flow has never been active on my copter. There is no mention of EK3_SRC2_VELXY on that page - so indeed, that parameter is set to “0” on my copter. When I installed my HereFlow, I followed these docs: Hex HereFlow Optical Flow Sensor - Copter documentation Thank you Randy - this is really helpful! Certainly Paul Riseborough has done tests in the past and says it improves position hold but I have never verified this myself. TBH, I’m also not sure how much of a difference it makes to fuse both GPS and optical flow at the same time. This would allow you to see for yourself the GPS vs optical flow position hold performance. Once we’re sure that the optical flow position hold is working well I might ask you to send me another log (maybe with “replay” enabled) so we can evaluate how much of a difference using the optical flow is making as compared with just relying on the GPS. It sounds like you want to fuse both GPS and optical flow at the same time which is very do-able but I’d like to see the log file to ensure that the EK3_SRC2_VELXY has been set to 5 (Optical flow) because if this hasn’t been done then optical flow won’t be being used at all.Īfter this I think it would be good to verify that the vehicle flies well using only optical flow and ideally set it up so that you can manually switch between using GPS and optical flow using an auxiliary switch as I did in this video.
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