Step 5 — Low-speed sensing

Holybro H-Flow

More images

H-Flow — side

H-Flow — bottom / sensor

Goal: H-Flow for hover/loiter near the ground or with weak GNSS.

Manuals & guides

Official docs and practical guides for this step:

• Holybro H-Flow — setup guide (ArduPilot)
• ArduPilot — Optical flow testing & setup
• Holybro H-Flow product

Video guides

Videos below are embedded. Use the link if the player does not load.

Setup Optic Flow & Lidar for ArduPilot / PX4 (indoor hover) — YouTube

ArduPilot OpticalFlow fixed-point hovering — YouTube

What you do

1. Mount H-Flow on the CAN Hub (or reserved CAN path); lens down with a clear view.
2. Set optical flow + rangefinder firmware/parameters per Holybro/ArduPilot docs.
3. Test low over structured surfaces (grass/tiles): flow quality and height.
4. Treat it as a GPS aid, not a replacement for outdoor long-range positioning.

Related parts

• H-Flow
• CAN Hub

Done when

• Flow and distance show in telemetry; near-ground Loiter/PosHold feels more stable.

Photos