Hello everyone.I have encountered some issues while using the optical flow module recently. Using an optical flow EKF source with SURFTRAK-MODE set to 0, the swinging attitude joystick Copter will drop to the ground. I have reviewed the log and found that while shaking the joystick, the estimated height of this ekf is increasing, but the actual height and barometer height are decreasing. I think there may be some issues when integrating optical flow data.
https://drive.google.com/file/d/1qFDQhtwAA4YM2Rx1kjrQgs2ak8TE8MO6/view?usp=drive_link