diff --git a/conf/modules/cv_opticflow.xml b/conf/modules/cv_opticflow.xml
index add987d92a..4d30d6727e 100644
--- a/conf/modules/cv_opticflow.xml
+++ b/conf/modules/cv_opticflow.xml
@@ -51,7 +51,7 @@
       <dl_setting var="opticflow.method" min="0" step="1" max="1" module="computer_vision/opticflow_module" shortname="method" values="LK_Fast9|EdgeFlow" param="METHOD"/>
         <dl_setting var="opticflow.window_size" module="computer_vision/opticflow_module" min="0" step="1" max="20" shortname="window_size" param="OPTICFLOW_WINDOW_SIZE"/>
         <dl_setting var="opticflow.search_distance" module="computer_vision/opticflow_module" min="0" step="1" max="50" shortname="search_distance" param="SEARCH_DISTANCE"/>
-        <dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="1" max="100" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
+        <dl_setting var="opticflow.subpixel_factor" module="computer_vision/opticflow_module" min="0" step="10" max="1000" shortname="subpixel_factor" param="OPTICFLOW_SUBPIXEL_FACTOR"/>
         <dl_setting var="opticflow.derotation" min="0" step="1" max="1" module="computer_vision/opticflow_module" values="OFF|ON" shortname="derotation" param="OPTICFLOW_DEROTATION"/>
 
 	<!-- Specifically for Lucas Kanade and FAST9 -->
@@ -62,6 +62,9 @@
         <dl_setting var="opticflow.fast9_adaptive" module="computer_vision/opticflow_module" min="0" step="1" max="1" values="TRUE|FALSE" shortname="fast9_adaptive" param="OPTICFLOW_FAST9_ADAPTIVE"/>
         <dl_setting var="opticflow.fast9_threshold" module="computer_vision/opticflow_module" min="0" step="1" max="255" shortname="fast9_threshold" param="OPTICFLOW_FAST9_THRESHOLD"/>
         <dl_setting var="opticflow.fast9_min_distance" module="computer_vision/opticflow_module" min="0" step="1" max="500" shortname="fast9_min_distance" param="OPTICFLOW_FAST9_MIN_DISTANCE"/>
+	<!-- Changes pyramid level of lucas kanade optical flow. -->
+        <dl_setting var="opticflow.pyramid_level" module="computer_vision/opticflow_module" min="0" step="1" max="10" shortname="pyramid_level" param="OPTICFLOW_PYRAMID_LEVEL"/>
+
       </dl_settings>
     </dl_settings>
   </settings>
diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
index d546f03176..712ccafc26 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
+++ b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.c
@@ -62,7 +62,7 @@
  */
 struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points,
                            uint16_t *points_cnt, uint16_t half_window_size,
-                           uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_lvl)
+                           uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_level)
 {
 
 
@@ -91,12 +91,12 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str
   step_threshold = step_threshold * (subpixel_factor / 100);
 
   // Allocate memory for image pyramids
-  struct image_t *pyramid_old = malloc(sizeof(struct image_t) * (pyramid_lvl + 1));
-  struct image_t *pyramid_new = malloc(sizeof(struct image_t) * (pyramid_lvl + 1));
+  struct image_t *pyramid_old = malloc(sizeof(struct image_t) * (pyramid_level + 1));
+  struct image_t *pyramid_new = malloc(sizeof(struct image_t) * (pyramid_level + 1));
 
   // Build pyramid levels
-  pyramid_build(old_img, pyramid_old, pyramid_lvl, border_size);
-  pyramid_build(new_img, pyramid_new, pyramid_lvl, border_size);
+  pyramid_build(old_img, pyramid_old, pyramid_level, border_size);
+  pyramid_build(new_img, pyramid_new, pyramid_level, border_size);
 
   // Create the window images
   struct image_t window_I, window_J, window_DX, window_DY, window_diff;
@@ -107,7 +107,7 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str
   image_create(&window_diff, patch_size, patch_size, IMAGE_GRADIENT);
 
   // Iterate through pyramid levels
-  for (int8_t LVL = pyramid_lvl; LVL != -1; LVL--) {
+  for (int8_t LVL = pyramid_level; LVL != -1; LVL--) {
     uint16_t points_orig = *points_cnt;
     *points_cnt = 0;
     uint16_t new_p = 0;
@@ -119,10 +119,10 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str
     for (uint16_t i = 0; i < max_points && i < points_orig; i++) {
       uint16_t p = i * skip_points;
 
-      if (LVL == pyramid_lvl) {
+      if (LVL == pyramid_level) {
         // Convert point position on original image to a subpixel coordinate on the top pyramid level
-        vectors[new_p].pos.x = (points[p].x * subpixel_factor) >> pyramid_lvl;
-        vectors[new_p].pos.y = (points[p].y * subpixel_factor) >> pyramid_lvl;
+        vectors[new_p].pos.x = (points[p].x * subpixel_factor) >> pyramid_level;
+        vectors[new_p].pos.y = (points[p].y * subpixel_factor) >> pyramid_level;
         vectors[new_p].flow_x = 0;
         vectors[new_p].flow_y = 0;
 
@@ -223,7 +223,7 @@ struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, str
   image_free(&window_DY);
   image_free(&window_diff);
 
-  for (int8_t i = pyramid_lvl; i != -1; i--) {
+  for (int8_t i = pyramid_level; i != -1; i--) {
     image_free(&pyramid_old[i]);
     image_free(&pyramid_new[i]);
   }
diff --git a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h
index 86e3316cbf..1879b07ba0 100644
--- a/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h
+++ b/sw/airborne/modules/computer_vision/lib/vision/lucas_kanade.h
@@ -36,6 +36,6 @@
 
 struct flow_t *opticFlowLK(struct image_t *new_img, struct image_t *old_img, struct point_t *points,
                            uint16_t *points_cnt, uint16_t half_window_size,
-                           uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_lvl);
+                           uint16_t subpixel_factor, uint8_t max_iterations, uint8_t step_threshold, uint8_t max_points, uint8_t pyramid_level);
 
 #endif /* OPTIC_FLOW_INT_H */
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
index 96f3f68a21..12a2b140c7 100644
--- a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
+++ b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.c
@@ -104,10 +104,10 @@ PRINT_CONFIG_VAR(OPTICFLOW_MAX_ITERATIONS)
 #endif
 PRINT_CONFIG_VAR(OPTICFLOW_THRESHOLD_VEC)
 
-#ifndef OPTICFLOW_PYRAMID_LVL
-#define OPTICFLOW_PYRAMID_LVL 3
+#ifndef OPTICFLOW_PYRAMID_LEVEL
+#define OPTICFLOW_PYRAMID_LEVEL 3
 #endif
-PRINT_CONFIG_VAR(OPTICFLOW_PYRAMID_LVL)
+PRINT_CONFIG_VAR(OPTICFLOW_PYRAMID_LEVEL)
 
 #ifndef OPTICFLOW_FAST9_ADAPTIVE
 #define OPTICFLOW_FAST9_ADAPTIVE TRUE
@@ -170,7 +170,7 @@ void opticflow_calc_init(struct opticflow_t *opticflow, uint16_t w, uint16_t h)
   opticflow->subpixel_factor = OPTICFLOW_SUBPIXEL_FACTOR;
   opticflow->max_iterations = OPTICFLOW_MAX_ITERATIONS;
   opticflow->threshold_vec = OPTICFLOW_THRESHOLD_VEC;
-  opticflow->pyramid_lvl = OPTICFLOW_PYRAMID_LVL;
+  opticflow->pyramid_level = OPTICFLOW_PYRAMID_LEVEL;
 
   opticflow->fast9_adaptive = OPTICFLOW_FAST9_ADAPTIVE;
   opticflow->fast9_threshold = OPTICFLOW_FAST9_THRESHOLD;
@@ -244,7 +244,7 @@ void calc_fast9_lukas_kanade(struct opticflow_t *opticflow, struct opticflow_sta
   result->tracked_cnt = result->corner_cnt;
   struct flow_t *vectors = opticFlowLK(&opticflow->img_gray, &opticflow->prev_img_gray, corners, &result->tracked_cnt,
                                        opticflow->window_size / 2, opticflow->subpixel_factor, opticflow->max_iterations,
-                                       opticflow->threshold_vec, opticflow->max_track_corners, opticflow->pyramid_lvl);
+                                       opticflow->threshold_vec, opticflow->max_track_corners, opticflow->pyramid_level);
 
 #if OPTICFLOW_DEBUG && OPTICFLOW_SHOW_FLOW
   image_show_flow(img, vectors, result->tracked_cnt, opticflow->subpixel_factor);
diff --git a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
index 4caefadb09..7bff1f2bac 100644
--- a/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
+++ b/sw/airborne/modules/computer_vision/opticflow/opticflow_calculator.h
@@ -51,7 +51,7 @@ struct opticflow_t {
   uint16_t subpixel_factor;          ///< The amount of subpixels per pixel
   uint8_t max_iterations;           ///< The maximum amount of iterations the Lucas Kanade algorithm should do
   uint8_t threshold_vec;            ///< The threshold in x, y subpixels which the algorithm should stop
-  uint8_t pyramid_lvl;        ///< Number of pyramid levels used in Lucas Kanade algorithm (0 == no pyramids used)
+  uint8_t pyramid_level;        ///< Number of pyramid levels used in Lucas Kanade algorithm (0 == no pyramids used)
 
   uint8_t max_track_corners;        ///< Maximum amount of corners Lucas Kanade should track
   bool_t fast9_adaptive;            ///< Whether the FAST9 threshold should be adaptive