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Permalink Reply by Bob Wilkinson on July 16, 2012 at 9:06pm

From reading the code, yes there is a separate PID for optical flow loiter:

pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),

pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),

I think you should be able to set them from the mission planner parameter screen.  They may be named OF_RLL_[PID] and OF_PIT_[PID]?  I'm not sure how that works.

My optical flow sensor is in the mail, so I haven't actually played with this, just been looking at the code.  I'm hoping to do some work to integrate OF with auto mode, but we'll see how far I get.

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Permalink Reply by Luc van Helfteren on July 17, 2012 at 2:09am

Thanks Bob, I will have a look for the setting in planner and see if I can get some more useful functionality out of the flow meter.

Another concern of mine is how well the low resolution sensor will track over grass. I have seen some videos of people using the sensor successfully over grass, but how can the low contrast image give enough data?

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