{"product_id":"cubepilot-hereflow-hx4-06076","title":"CubePilot - HereFlow (HX4-06076)","description":"\u003cp\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003e\u003cstrong\u003eCubePilot - HereFlow Optical Sensor (HX4-06076)\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cspan style=\"color: #000000;\"\u003e\u003cstrong\u003e\u003cspan style=\"font-size: 14px;\"\u003ePackage Contains: \u003c\/span\u003e\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003e\u003cspan style=\"color: #000000;\"\u003e\u003cspan style=\"font-size: 14px;\"\u003e1 x\u003c\/span\u003e\u003cstrong\u003e\u003cspan style=\"font-size: 14px;\"\u003e \u003c\/span\u003e\u003c\/strong\u003e\u003cspan style=\"font-size: 14px;\"\u003eHereFlow Optical Flow Sensor\u003c\/span\u003e\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003e1 x CAN Cable\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan style=\"color: #000000;\"\u003e\u003cstrong\u003e\u003cspan style=\"font-size: 14px;\"\u003eOverview: \u003c\/span\u003e\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eThe HereFlow optical flow sensor is a lightweight optical flow sensor including a short range lidar which uses the CAN protocol to communicate with the autopilot. This can be used to improve horizontal position control especially in GPS denied environments.\u003c\/span\u003e\u003c\/p\u003e\n\u003cp\u003e\u003cspan style=\"color: #000000;\"\u003e\u003cstrong\u003e\u003cspan style=\"font-size: 14px;\"\u003eConnection to Autopilot:\u003c\/span\u003e\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eThe flow sensor should be mounted on the underside of the copter with the camera lens pointing downwards. The side of the sensor with the lens should be towards the front of the vehicle.\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eConnect the sensor to the autopilots’ CAN port (if using a Cube note that pre-Apr 2019 boards have CAN1 and CAN2 swapped)\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eSet FLOW_TYPE = 6 (DroneCAN)\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eSet CAN_P1_DRIVER = 1 to enable DroneCAN\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eSet CAN_D1_PROTOCOL = 1 (DroneCAN)\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eTo use the onboard lidar (not recommended):\u003c\/span\u003e\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eSet RNGFND1_TYPE = 24 (DroneCAN)\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eSet RNGFND1_MAX_CM = 300 to set range finder’s maximum range to 3m\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan style=\"color: #000000;\"\u003e\u003cstrong\u003e\u003cspan style=\"font-size: 14px;\"\u003eAdditional Notes:\u003c\/span\u003e\u003c\/strong\u003e\u003c\/span\u003e\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003eAs with the \u003ca href=\"https:\/\/ardupilot.org\/copter\/docs\/common-px4flow-overview.html#common-px4flow-overview\"\u003e\u003cspan style=\"color: #000000;\"\u003ePX4Flow sensor\u003c\/span\u003e\u003c\/a\u003e a range finder is required to use the sensor for autonomous modes including \u003ca href=\"https:\/\/ardupilot.org\/copter\/docs\/loiter-mode.html#loiter-mode\"\u003e\u003cspan style=\"color: #000000;\"\u003eLoiter\u003c\/span\u003e\u003c\/a\u003e and \u003ca href=\"https:\/\/ardupilot.org\/copter\/docs\/rtl-mode.html#rtl-mode\"\u003e\u003cspan style=\"color: #000000;\"\u003eRTL\u003c\/span\u003e\u003c\/a\u003e\u003c\/span\u003e\u003c\/li\u003e\n\u003cli\u003e\u003cspan style=\"font-size: 14px; color: #000000;\"\u003e\u003ca href=\"https:\/\/ardupilot.org\/copter\/docs\/flowhold-mode.html#flowhold-mode\"\u003e\u003cspan style=\"color: #000000;\"\u003eFlowHold\u003c\/span\u003e\u003c\/a\u003e does not require the use of a rangefinder\u003c\/span\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003e\u003cspan style=\"color: #000000;\"\u003e \u003c\/span\u003e\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/cdn.shopify.com\/s\/files\/1\/1013\/9127\/0237\/files\/1610996212HEX_-_Hereflow_Body.jpg\" alt=\"\"\u003e\u003c\/p\u003e","brand":"CubePilot","offers":[{"title":"Default Title","offer_id":63500322505053,"sku":"CP-03-07-HereFlow-HX4-06076","price":120.0,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/1013\/9127\/0237\/files\/1642415841-78682400_7b18a5e2-7f9d-4e99-8a14-69a9037a965b.jpg?v=1772032977","url":"https:\/\/www.3dxr.co.uk\/products\/cubepilot-hereflow-hx4-06076","provider":"3DXR","version":"1.0","type":"link"}