ArduCopter FlowHold Parameters Tuning

ArduCopter
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1

Hi, everyone.
I’m trying to tune the FlowHold flight mode to avoid wiggling, but without success. My quad is an under 250g 150mm X-Quad using Kakute F7 AIO, TFMini LiDAR and ThoneFlow OF sensor. With default parameter values, the behavior is not so good. You can see in the video below:

As suggested in another topic, I’ve changed the FHLD_FLT_HZ and FHLD_XY_FILT_HZ to 2. It really stops shaking, but the position starts varying in a bigger circle. The related parameters are:

  1. FHLD_BEAKE_RATE
  2. FHLD_FILT_HZ
  3. FHLD_FLOW_MAX
  4. FHLD_ QUAL_MIN
  5. FHLD_XY_FILT_HZ
  6. FHLD_XY_I
  7. FHLD_IMAX
  8. FHLD_XY_P

I don’t know exactly what these parameters do. I have just an idea of 6 and 8 based on other PID controllers. I will keep trying, but if someone already got good values, please help me.

Regards!

2

Sorry for bothering you with something that I just figured out that is easy. If you use PosHold or Loiter on GPS denied environment or just disable GPS, ArduCopter will use the optical flow for horizontal positioning and the barometer/rangefinder for altitude positioning. That’s exactly what I was looking for.
Regards!