Speed in Loiter using OpticalFlow

ArduCopter Copter 3.6
1

Speed in Loiter is reduced when an OpticalFlow sensor is used instead of GPS. That’s clear.
But what is the parameter for tuning that speed ???

2

I confirm the pattern, but I never thought that was a parameter that can be adjusted.

Edit I asked @priseborough on this PR

1 Like
3

Thanks for your answer @ppoirier
My problem is: Loiter works fine, but i can move the copter only very slowly.
Is there no way to speed it up ? strange

4

It moves slow close to the groud and gradually speed up if you gain altitude (this is why I suspect some non linearity).

I guess with the VL53L0X you must be flying LOW & SLOW !! :slight_smile:

5

I’m using the new VL53L1X now. It’s range is very good (indoors at least, didn’t try outdoor yet bc of very cold weather)

6

@priseborough just released an updated opticalflow terrain estimator , looks like it is adressing speed as well

7

Speed is determined by param value that sets maximum optical flow rate. See EK2(3)_MAX_FLOW parameter. It should be set to within the max rate at which your sensor saturates.

8

Ok I will try to tweek these values, thanks