I implemented HereFlow settings and flight tests based on the following two websites, but there was no indoor positioning or height-setting effect at all. The optical flow and Lidar values displayed by GCS are normal, but during actual flight testing, the results are very bad.
I did the calibration before the flight test. The results displayed in the bin file were consistent with the instructions, but the results of the flight test were not as good as expected.
The following are my parameter settings for HereFlow:
LOG_DISARMED = 1
FLOW_TYPE = 6
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1
FLOW_POS_X = 0.05
FLOW_POS_Z = 0.07
RNGFND1_TYPE = 24
RNGFND1_MAX_CM = 200
RNGFND1_MIN_CM = 5
RNGFND1_GNDCLEAR = 12
I also tried using optical flow without Lidar, but the effect was as bad as ever.
Or put a wooden board on the gray ground to make the color difference more obvious, but there is still no improvement. After taking off, the Loiter still wanders around without stable hovering at all.
I would like to ask if anyone has successfully made an indoor stable height positioning and hovering application through HereFlow.