Setup Guide
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The recommended mounting orientation is with the connectors on the board pointing toward the back of the vehicle, as shown in the following picture.
This corresponds to the default value (0) of the parameter SENS_FLOW_ROT. Change the parameter appropriately if using a different orientation. The sensor can be mounted anywhere on the frame, but you will need to specify the focal point position, relative to the vehicle's center of gravity, during PX4 configuration.
Connect H-FLOW to CAN port
Set the following parameters:
Reboot
After connecting the sensor to the autopilot, connect it to the autopilot using QGroundControl. Open the MAVLink Inspector screen for DISTANCE_SENSOR. If the sensor is OK, you can see that the current_distance number is non-zero.
Refer to link below for the latest PX4 Optical Flow setup info
Connect H-FLOW to CAN port
Set the following parameters:
FLOW_TYPE = 6 (DroneCAN)
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1
RNGFND1_TYPE = 24
RNGFND1_MAX_CM = 3000 (max range 30m）
EK3_SRC_OPTIONS = 0 (disable FuseALLVelocities）
EK3_FLOW_DELAY (default)
EK3_SRC1_POSXY = 0 (use optical flow)
EK3_SRC1_VELXY = 5
EK3_SRC1_POSZ = 1
EK3_SRC1_VELZ = 0
EK3_SRC1_YAW = 1
FLOW_POS_X, FLOW_POS_Y, FLOW_POS_Z (H-FLOW position offsets based on its mounting position)
Reboot
After connecting the sensor to the autopilot, connect to the autopilot using Mission Planner and open the Status tab of the Flight Data screen. If the sensor is operational, you should see non-zero opt_m_x, opt_m_y, and opt_qua values.
Refer to link below for the latest Ardupilot Optical Flow setup info
Enable optical flow fusion by setting .
To optionally disable GPS aiding, set to 0.
Enable .
Enable .
Set to 10.
Set to 0.2.
Set to 0.08 (minimum range is 80mm)
Set to 30 (max range is 30m)
Set to 0.08.
Set to 30.
Set to 7.4 to match the PAW3902 maximum angular flow rate.
The parameters , , and can be set to account for the offset of the H-Flow from the vehicle centre of gravity.
