ArduPilot/ardupilot

Add support for OPTICAL_FLOW_RAD

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#31,588 opened on Nov 25, 2025

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good first issue

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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

Research direction
Study the existing OPTICAL FLOW handling in ArduPilot to add OPTICAL FLOW RAD. Find where OPTICAL FLOW messages are received and replicated, then add similar handling for OPTICAL FLOW RAD with radian conversion.
Tech stack
cpp
Domain
backend
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.
Half day
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 architecture
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50