Optical Flow positionning behavior with LOG

Hello, Today other test show that OF it’s perfect at low height <10m above gnd.

Pilot can put pitch/roll stick input at max and copter 3.4 handle it well limiting max velocity following MAX FLOW parameter.

Above this altitude, if pilot request pitch or roll stick to maximum, Copter 3.4 attempt to limit max velocity but after 10-20 horizontal meters, EK2 seems to stop limiting velocity, and when pilot release sticks to stop drone, it keeps going without stopping, showing that OPTFLOW is no longer used…

Also, I saw that more drone is far from the ground, less accurate is the positioning locking…

There’s posible to lock max velocity at all eights even if pilot request maximum, for ensure that optflow EK2 continious working well?

There’s these issue show limits using optflow above 10 meters?

using EK2
Optflow 16mm lens
lidar lite 2
stock gate / noise values.
stock MAX FLOW value.

Attached you will find test flight log.

3 heights of flight and for each:
=>low ptich roll stick inputs with stick realease for check position lock
=>max pitch roll stick inputs with realease for check position lock