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

Section VISION

VISION_

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

Sections