I have just connected a Matek 3901-l0x optical&lidar sensor and got stuck with its tuning.
The manual suggests equating
OF.bodyX by adjusting
FLOW_FXSCALER. It appears that in my setup the parameters
OF.bodyX are something like 5x apart from each other, namely,
OF.bodyX is five times smaller than
OF.flowX. As per documentation of
FLOW_FXSCALER, as long as I understand it right, the decrease by 5x shall be achieved by setting
FLOW_FXSCALER = -800, which is way outside of the recommended range [-200; 200].
What bothers me more is that
OF.flowX is radians/second, whereas
OF.bodyX is meters/second. At least the APMPlanner tells me these dimensions. Shall that not mean that their ratio is to change when the altitude changes? And yet another thing is that
IMU.GyrX is radians/second but is nearly equal to
So I seem to misunderstand something fundamentally. Where am I wrong?
The dataflash log is attached: 22-02-06-19-XX-XX.bin.zip (520.7 KB)