Is Optical Flow enabled?

Hi Everyone,

From the release notes, it appears that optical flow is actually enabled for Rover finally. Is this the case? And if so, where is the parameter? I’m not seeing it


Not that I’m aware of.

I don’t have much to report, so I’ll simply resurrect this topic and hope it’s still relevant for the OP.

Optical flow for Rover is now available in 4.4-dev. I tried it out today with a Hereflow module and can report that it does work. My flow quality numbers fell consistently in the 200-range (of 255 possible), which I take to mean that the sensor is reporting good data.

My flow sensor is only 35cm off the ground, which is quite low - certainly below the 1-2m recommended in the PR, but I can’t find a better place to put it where it will remain protected from impact/potential damage and retain an unobstructed field of view.

I was able to run an auto mission with optical flow as the only EKF_SRCx_VELXY, and it performed only slightly worse than with RTK GPS, so it seems to be working reasonably well. I tried fusing it with GPS, which had a slight positive effect overall.

However, it did not really improve my ability to achieve straight-line navigation between waypoints with the new S-Curve-enabled nav controller. It’s my impression that very responsive vehicles do well with the new nav controller, where slightly sluggish ones can only ever get about as good as they might have under NAVL1 control, and that’s after a significant amount of tuning guesswork.

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