Regarding Holybro H-Flow sensor

Hi everyone,

I have a couple of doubts regarding EKF3 configuration while using the H-Flow sensor and would appreciate your guidance.

1. As recommended VELZ Handling (EK3_SRC1_VELZ = 0)
   I have configured:

• EK3_SRC1_VELZ = 0 (None)

So there is no vertical velocity sensor configured.
In this case, from where does EKF estimate VELZ?

2. H-Flow Usage and GPS Switching Above 30 m
   I am using the following configuration:

• EK3_SRC1_POSXY = 0 (Optical Flow)

• EK3_SRC1_VELXY = 5 (Optical Flow)

• EK3_SRC1_POSZ = 1 (Barometer)

• EK3_SRC1_VELZ = 0 (None)

• EK3_SRC1_YAW = 1

• EK3_SRC_OPTIONS = 0 (FuseAllVelocities disabled)

The H-Flow sensor has a maximum reliable range of around 30 meters.

My concern is:

• After crossing ~30 m, Optical Flow will not be reliable

• In this case, how does EKF handle POSXY and VELXY?

  How can I automatically switch to GPS above 30 m altitude?

  FuseAllVelocities Option
  Ardupilot recommended setting EK3_SRC_OPTIONS = 0 (disabling FuseAllVelocities).

• Would enabling FuseAllVelocities provide better robustness by allowing fusion of multiple velocity sources?

  • What is the best recommended setting for EK3_SRC_OPTIONS for our use case (Optical Flow below 30 m and GPS above 30 m)?

1 post - 1 participant

Read full topic