opticflow_hover
Hovers the drone based on optical flow made for Linux video Devices. Computes Pitch- and roll attitude from downward looking camera looking at a textured floor. - Sonar is required. - Another module sending the VELOCITY_ESTIMATE ABI message (usually computed from optic flow) is required. - Controller can hold position
VISION_ |
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Name |
Value |
Description |
PHI_PGAIN |
400 |
Optic flow proportional gain on the roll velocity error |
PHI_IGAIN |
20 |
Optic flow integrated gain on the summed roll velocity error |
THETA_PGAIN |
400 |
Optic flow proportional gain on the pitch velocity error |
THETA_IGAIN |
20 |
Optic flow integrated gain on the summed pitch velocity error |
DESIRED_VX |
0 |
The desired velocity in the body frame x direction |
DESIRED_VY |
0 |
The desired velocity in the body frame y direction |
Depends
- cv_opticflow|px4flow