How can I increase the Hover height of the Quadcopter Parrot Mambo without causing instability?

I am trying to simulate a flight path using the Parrot Mini-drone example given by asbQuadcopterStart. Any trajectory that is set to go above 2.1 m causes the drone to go unstable (rolls or pitches back and forth until a model assertion terminates the simulation).  How can this be fixed? To access the documentation link to the Quadcopter Project please run the below command in the MATLAB R2018b command window to get the release specific documentation:

web(fullfile(docroot, 'aeroblks/examples/quadcopter-project.html'))

Please follow the below link to search for the required information regarding the current release:

https://www.mathworks.com/help/

Answer 1

[MathWorks Support Team]

The optical flow subsystem (asbQuadcopter/Sensors/Sensors (Dynamics)/Sensor System/Camera) is a crude representation of the optical flow sensor onboard the Rolling Spider/Mambo. 

Changing the "velocity to optical flow" gain value (Sensors.velocityToOpticalFlowGain) from 1.0 to 0.75 will allow you to increase the altitude to 2.5m without the xy instabilities that were observed previously. You can continue to manipulate this value as the altitude changes.