Hi
I guess there is no need to create new topic. My quad finally flies. It turned out that PX4FLOW really works out of the box. You just have to connect UART.
Unfortunatelly I experience a significant, horizontal drift in position hold. It has a rather constant speed of 20 cm/s. All test I do are indoors, and every time, after about 5 seconds I have to land the quad to prevent it from crashing on the wall. Please help me resolve that problem.
First of all I couldn't find any information on how to calculate UKF_FLOW_ROT parameter. My AQ is fliped around Y axis, while PX4FLOW is mounted like in this picture
https://pixhawk.org/_media/modules/px4f ... tok=8dfdcf with front of the quad on top of the picture. I tried all 4 angles (0, 90, 180 and -90) but there is a drift every time. Once I connect AQ to QGC, move the drone above the ground and observe position on the screen it seems to don't change logically. It only works well if I hold the quad fery still.
It would probably be much easier to diagnose the problem once wireless telemetry would be working. I have a bluetooth module but UART on AQ is connected to FLOW sensor. I found an information that there is a second UART but if I am correct it's on the same pins as PWM output which is used to connect KISS esc. GPS module is not used in my setup so theoretically I could desolder the module and use it's UART. Would that work? What changes to the code shall I make?
Before tests I performed tare leveling, IMU calibration without temperature calibration and changed PID values for tilt and YAW.