ArduPilot/ardupilot

Add support for OPTICAL_FLOW_RAD

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#31,588 opened on Nov 25, 2025

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 (6 comments) (0 reactions) (0 assignees)C++ (9,336 stars) (15,603 forks)batch import
good first issue

Description

Feature request

ArduPilot consumes OPTICAL_FLOW. We should also consume OPTICAL_FLOW_RAD, treating all fields in exactly the same way as OPTICAL_FLOW except for the conversion to radians.

Describe the solution you'd like Code!

Describe alternatives you've considered Continuing to not have support

Platform [ ] All [ ] AntennaTracker [X ] Copter [X] Plane [X] Rover [X] Submarine

Contributor guide

Tech stack
cpp
Domain
api
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
C++ArduPilot sensor driversOPTICAL FLOW message format
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65
Research direction
Start by examining the existing implementation for OPTICAL FLOW in the ArduPilot codebase, likely in libraries/AP OpticalFlow or similar. Add a similar handler for OPTICAL FLOW RAD that converts all fields to radians where applicable. Ensure compatibility with Copter, Plane, Rover, and Sub frames. Refer to the issue comments for any additional clarification.