Range and flow2d seems to work. Range using old IROS model.

launch/params.yaml

@@ -29,7 +29,8 @@ range_std_insidebounds: 0.01
 # Flow2d STD values
 flow2d_std_outsidebounds: [10.0,10.0]
 flow2d_std_insidebounds: [0.15,0.15]
-flow2d_focal_length: 0.016
+# Focal length in pixels
+flow2d_focal_length: 73
 
 # Initial Nominal-State vector (p,v,q,ab,wb,g)
 xstate0: [0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0005,-0.0026,-0.0004,0.0,0.0,-9.803057]

src/eskf_odom_alg_node.cpp

@@ -308,9 +308,9 @@ void EskfOdomAlgNode::set_px4_reading(const px_comm::OpticalFlow::ConstPtr& msg,
 	flow << flowx, flowy;
 
 	this->alg_.lock();
-  this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
+  // this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
   this->alg_.set_range_reading(msg_time, this->gnd_dist_); // Set values into filter object
-  // this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
+  this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
   this->alg_.unlock();
 }