Hovers the drone based on optical flow made for Linux video Devices. Computes Pitch- and roll attitude from downward looking camera looking at a textured floor. - Sonar is required. - Another module sending the VELOCITY_ESTIMATE ABI message (usually computed from optic flow) is required. - Controller can hold position

cv_opticflow|px4flow

ap.CFLAGS += -DGUIDANCE_V_MODE_MODULE_SETTING=GUIDANCE_V_MODE_HOVER ap.CFLAGS += -DGUIDANCE_H_MODE_MODULE_SETTING=GUIDANCE_H_MODE_MODULE