Using OpticFlow - no data during flight

ArduCopter Copter 4.0
1

Hi,
I’ve setup a Pix4Flow and followed the wiki instractions (flashed the ardupilot KLT FW on the OF). Status page on MP shows data for OF. While following the testing wiki, Checking the OF.flowX & OF.flowY values compared to OF.bodyX/Y things looked OK during disarm. but during a flight test (Lotier and Hlt-hold modes) things didn’t look good and the drone wans’t stable at all. So I downloaded the log and there are no values for the OF.flowX & OF.flowY.

Any idea why? why do I see OF values during disarm but I don’t see them during flight? I assume that this is the reason why the drone wasn’t stable.

Using ArduCopter V4.0.5
EK2_GPS_TYPE = 3
LOG_BITMASK has OPTFLOW checked
GPS was removed from pre-armed check

Link to two log files (during disarm and during flight)

Thanks,
Raz

2

Is your flow sensor orientation properly set?

3

Yes it is. The X axis points forwards and the Y axis points to the right.

Raz

4

Do you have a rangefinder (Lidar) installed ?
It is required for the OF to operate correctly.

5

Yes, I do have an installed rangefinder (gives good data)