[Optical Flow]_How to know it's well compensated with gyro?

Hello everyone,

I’m using a customized optical flow board based on PMW3901 for the position controller of my copter. My board has OF only, no gyro, so I guess the original code will get the on-board gyro data to compensate.
The problem is that I don’t know how to check if the flow is well compensated with gyro data or not?

Could you guys show me the way to get it done? And in the case that the OF doesn’t work well, how can I modify it to get a better performance.


Angular rate compensation happens in optflow_fusion.cpp on the flight controller. Do you have a distance measurement?