I’m using Here flow sensor for position. I have four lidars onboard. I am able to get the hereflow data on screen but it is not setting the EKF origin. And I’m getting prearm message “Need Position Estimate”. The parameters I’ve set are:
FLOW_TYPE 6
CAN_D2_PROTOCOL 1
CAN_P2_DRIVER 2
AHRS_EKF_TYPE 3
EK3_SRC1_VELXY 5
EK3_SRC1_YAW 1
EK3_SRC1_POSZ 2
EK3_SRC2_POSZ 2
EK3_SRC3_POSZ 2