CXOF integrates with ArduPilot over UART. The wiring is straightforward; the configuration is a few parameter changes.
Wiring
Connect CXOF to a free UART on the flight controller (typically TELEM2 or SERIAL4):
| CXOF Pin | FC Pin |
|---|---|
| VCC | 5 V |
| GND | GND |
| TX | UART RX |
| RX | UART TX |
ArduPilot parameters
Set on the FC (via Mission Planner or param set):
SERIAL4_PROTOCOL 8 # OpticalFlow
SERIAL4_BAUD 19 # 19200 baud
FLOW_TYPE 6 # CXOF/PX4Flow style
FLOW_ENABLE 1
EK3_SRC1_VELXY 5 # Use flow for XY velocity
After parameter changes, reboot the FC.
Verification
In Mission Planner’s Status tab, you should see flow_rate_x and flow_rate_y non-zero when you wave a hand under the sensor. If readings stay zero — check SERIAL4_PROTOCOL and FLOW_TYPE.
Where to go next
- Description / specs
- EKF3 fusion — how this feeds into state estimation
- CXOF hub