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  • Mounting​
  • PX4 Configuration
  • Ardupilot Setup Guide

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  1. Peripherals
  2. H-Flow (DroneCAN)

Setup Guide

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Last updated 1 month ago

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Mounting​

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.

PX4 Configuration

  1. Connect H-FLOW to CAN port

  2. Set the following parameters:

  1. 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

Ardupilot Setup Guide

  1. Connect H-FLOW to CAN port

  2. 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)

  1. 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.

EKF2_OF_CTRL
EKF2_GPS_CTRL
UAVCAN_SUB_FLOW
UAVCAN_SUB_RNG
EKF2_RNG_A_HMAX
EKF2_RNG_QLTY_T
UAVCAN_RNG_MIN
UAVCAN_RNG_MAX
SENS_FLOW_MINHGT
SENS_FLOW_MAXHGT
SENS_FLOW_MAXR
EKF2_OF_POS_X
EKF2_OF_POS_Y
EKF2_OF_POS_Z
Optical Flow | PX4 Guide (main)
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Optical Flow Sensor Testing and Setup — Copter documentation
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