Currently, all speeds, both horizontally and vertically are set to 0.3m/s for the sake of safety in enclosed arenas like indoors and the walled back garden. The down side is that in the park with the GPS waypoints perhaps 20m apart, it takes a very long time, often over a minute between waypoints, wearing out the batteries in a few flights.
The limitation other than safety is to ensure the down-facing video can track the difference between frames, which means there needs to be a significant overlap between consecutive frames.
The video runs at 10Hz*. The RPi camera angle of view (AOV) is 48.8°. With the camera 1m off the ground (the standard set throughout all flights)**, 48.8° corresponds to 80cm horizontal distance (2 x 1m * tan (AOV / 2)). Assuming there needs to be a 90% overlap between frames to get accurate video macro-block vectors, every 0.1s, Hermione can move up to 8cm (10%) or 0.80m/s compared to the current 0.3m/s. I’ll be trying this out on the GPS tracking flights in the park tomorrow.
*10Hz seems to be about the highest frequency for the video that the macro-block processing can handle without causing other sensor processing to overflow – specifically the IMU FIFO.
**1 meter height is for the sake of safety, and because the video 320² pixels macro-blocks can resolve distance accurately on grass and gravel. Doubling the height requires quadrupling the video frame size to 640² to get the same resolution required for grass / gravel, and once again, the processing time required will cause IMU FIFO overflowing.
P.S. The weather isn’t as good as I’d hoped to do the GPS tracking flights in the park yet, but I did take Hermione into the back garden this morning to test her increased horizontal velocity changes; she happily ran at 1m/s over the grass, so that will be the new speed used for the much longer distance GPS flights to reduce Hermione’s flight time and hence her and the DJI Mavic’s battery drain.