> For the complete documentation index, see [llms.txt](https://docs.premium-modellbau.de/premium-modellbau-portal-fuer-anleitungen/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.premium-modellbau.de/premium-modellbau-portal-fuer-anleitungen/cubepilot/cubepilot-ubersicht/here-flow.md).

# Here Flow

## Link zum Premium-Modellbau Shop

{% embed url="<https://www.premium-modellbau.de/hereflow-optischer-sensor-lidar-modul-fuer-the-cube-pixhawk-2.1>" %}
HereFlow Optischer Sensor - Lidar Modul für The Cube (Pixhawk 2.1) im Premium-Modellbau Shop
{% endembed %}

### Das Hereflow ist ein Opticalflowsensor für die Integration per CAN Bus in ein Ardupilot System

###

### Beschreibung:

Here Flow is a finger size optical flow sensor. Compared with other optical flow sensors, it is even smaller. It can be installed easily at any position without taking much space.

A LiDAR component, an optical flow camera and a 6D IMU (ICM20602) are integrated in the Here FLOW.

The LiDAR component is a power efficient high speed TOF range finder, which embeds the latest ST FlightSenseTM technology. In range of 2 m, it can acquire the distance within 5 ms. The accuracy is not affected by colour or reflection rate of the target surface.

The Here Flow can be setup at any node in the CAN bus without noise problem.

## Dokumentation und Integration von HEX:

{% embed url="<https://docs.cubepilot.org/user-guides/flow-senor/here-flow>" %}

## Integration in Ardupilot

{% embed url="<https://ardupilot.org/copter/docs/common-hereflow.html>" %}


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