From da1c3c2db517157fba39a92dabb27078bd416f20 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 19 Dec 2024 15:36:52 +1100 Subject: [PATCH] Optical flow doc- clarify that integrated_xgryo etc are fields in OPTICAL_FLOW_RAD (#3526) --- en/sensor/optical_flow.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/en/sensor/optical_flow.md b/en/sensor/optical_flow.md index 5667f9c59db0..1067d15fbe07 100644 --- a/en/sensor/optical_flow.md +++ b/en/sensor/optical_flow.md @@ -39,11 +39,11 @@ The approach used for fusing sensor data and any offsets from the center of the ### Scale Factor -For pure rotations the `integrated_xgyro` and `integrated_x` (respectively `integrated_ygyro` and `integrated_y`) have to be the same. +For pure rotations the `OPTICAL_FLOW_RAD.integrated_xgyro` and `OPTICAL_FLOW_RAD.integrated_x` (respectively `integrated_ygyro` and `integrated_y`) have to be the same. If this is not the case, the optical flow scale factor can be adjusted using [SENS_FLOW_SCALE](../advanced_config/parameter_reference.md#SENS_FLOW_SCALE). :::tip -The low resolution of common optical flow sensors can cause slow oscillations when hovering at a high altitude above ground (> 20m). +The low resolution of common optical flow sensors can cause slow oscillations when hovering at a high altitude above ground (> 20m). Reducing the optical flow scale factor can improve the situation. :::