Optical flow fusion depend on HGT_REF?

PX4 Autopilot
1

Hi !

I’m playing with an optical flow sensor (MTF-01P) and I have question about how PX4 uses it as velocity estimation source.

Everything works fine with my setup, but only if I set EKF2_HGT_REF to something other than Range Sensor.

I tried to dig into the code (github), but it’s a complex one x) and I do not understand how to enable optical flow if HGT_REF is range sensor ?

Best

2

fixed here fix(ekf2): allow optical flow to start when range finder is height reference by dakejahl · Pull Request #26960 · PX4/PX4-Autopilot · GitHub

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