Greetings to all
I am trying to incorporate an MTF-01 optical flow sensor with integrated LRF on my FPV drone ( speedybeeF405AIO) . Initially i could not find FLOW_TYPE parameter and i had to use arducopter custom firmware builder to include optical flow support in the firmware. After following the tuning steps ( not done notch filter tuning since i wasn’t able to understand how to do FFT method and I dont have ESC telemetry) that the copter was tested in stabilize and alt hold mode and was found to work pretty ok. I am atttaching my param file for reference
FPV_tuned.param (19.0 KB)
I have connected OF to UART 3 and set up the parameters as per the wiki and could see non zero values in opt_m_x, opt_m_y and opt_qua . since it was raining heavily outside i decided to use logs for calibrating the OF. i am attaching screen shots of the log as well as my .bin file .
2 01-01-1970 05-30-00.bin (1006.8 KB)
I can see that OF.flowx, OF.bodyx and IMU.gyrX are alligned with each other but there are a lot of small spikes on the OF.flowX graph. same is the case with Y axis graph.
it looks different from the graphs shown in the calibration wiki page where there are no sharp spikes like mine. has anyone experienced this ? my MTF01 is installed in correct orientation and is stuck to the bottom CF frame of my quad with a double sided tape. Range finder seems to be working correctly.
Thanks in advance
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