Buu T Phan

Yes. And it seems like these lines should be: float pixel_x = flow_x - x_rate; // mrad float pixel_y = flow_y - y_rate; // mrad

@Mahmoud-Teama ` x_rate = sensor.gyro_x_rate_integral() / 10.0f; y_rate = sensor.gyro_y_rate_integral() / 10.0f; ``` flow_x = sensor.pixel_flow_x_integral() / 10.0f; // mrad flow_y = sensor.pixel_flow_y_integral() / 10.0f; // mrad ``` if(quality>100){ float...

@Mahmoud-Teama By the way, you should filter to the data for getting better results. I use averaging of 10 and the result is quite nice.