I'm currently trying to perform simple movements indoors using the optical flow sensor and SF02 rangefinder. I have both hardware setup on my Quadrotor, where I am running Firmware ver 3.4.5. But when I try to arm and takeoff to an altitude of 1 meter. I get a bunch of EKF variance errors that prevent the task from accomplishing.
I am using GUIDED mode (GPS disabled, EK2 enabled and using optical flow, Ek2 alt source set to use rangefinder)
If by some chance I do get it to arm and takeoff with out EKF errors, it drifts very quickly and crashes.
Any help is greatly appreciated....I'm using dronekit for my autonomous control.