Uploaded July 2025 | Updated September 2026, 1 week ago

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Test of Optical Flow up to 100m using AP-4.7.0-dev, BlueOS and an XFRobot Z-1 mini camera gimbal
Feature co-authored with Sanket Sharma
Frame: Hexsoon EDU450
Camera: XFRobot Z-1 Mini
Autopilot: CubeOrange+ with Here4 GPS
Firmware: ArduPilot-4.7.0-dev
Telemetry: mRo SIK telemetry radio
Lidar: Benenwake TFS20-L
Ethernet: BotBlox DroneNet
Companion Computer: RPI5
Companion Computer software: BlueOS 1.5.0-beta8 + OpticalFlow extension
Blog: discuss.ardupilot.org/t/blueos-extension-for-optical-flow-and-precision-landing/136798