LIDAR OPTICAL FLOW Inav7+

[lebolk]

Hi All !
I'm using LIDAR OPFLOW MTF-01 with Inav 7.1
I've also connected a GPS with MAG

Is there a way to use both at the same time for POSHOLD / ALTHOLD ?
Maybe to force using LIDAR from the ground to 7m... then using GPS for higher altitudes ?
Or mixing data to be even more precise ?

Thanks for your help !

[sem-fly]

Hello! Did you manage to increase the lidar height? What should I do to keep the height at 5 meters? I can't do it about 1 meter higher now.

[sensei-hacker]

Hello! Did you manage to increase the lidar height? What should I do to keep the height at 5 meters? I can't do it about 1 meter higher now.

Set inav_max_surface_altitude and nav_max_terrain_follow_alt to the maximum distance (in centimeters) that your rangefinder is reliably accurate. The default for nav_max_terrain_follow_alt is 100 centimeters (1 meter).

[sensei-hacker]

Hi All ! I'm using LIDAR OPFLOW MTF-01 with Inav 7.1 I've also connected a GPS with MAG

Is there a way to use both at the same time for POSHOLD / ALTHOLD ? Maybe to force using LIDAR from the ground to 7m... then using GPS for higher altitudes ? Or mixing data to be even more precise ?

Thanks for your help !

This is an old question, but:

Surface mode flies the orange line, distance to the nearest obstacle seen by the rangefinder.
Regular altitude mode flies the purple line, using the GPS and baro.

Note you can't fly the purple line and the orange line at the same time.
Therefore, mixing the purple line with the orange line "to be more precise" would be kinda like mixing English and Japanese, like this:

Emgi xo iingnlo i msheru an idi jamep na saets ehrmeisauu.

It would result in gibberish.

[MohamedNour1452]

I have another question, can I make the optical flow sensor handle the altitude hold and poshold as long as it's in it's working range and let the gps handle the rest after it goes above optical flow sensor range ?

[sensei-hacker]

You can use a switch on your radio to switch between surface mode, which flies the orange line using the rangefinder, or standard altitude mode which flies the purple line using the GPS and baro. There is no mode which will somehow fly both lines at once.

You have to decide - do you want to be two meters above the hilltop, or two meters above the arming point? You can't be in both places at once, so they are two different modes.

[MohamedNour1452]

thanks

[alex-441]

Hi! Does your answer mean that we should NOT activate ALTHOLD modifier to use SURFACE modifier with OpFlow?