Autonomous Indoor Navigation using Optical flow and SF02 rangefinder

Hi all,

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.

Thank you