Indoor Autonomous Flight requirements

PX4 Autopilot Configuration & Flight Modes ⚙️
1

Hi,
I want to autonomos flight at indoor with my drone using ROS. I share my setup and settings at following. Could you verify me?

Pixhawk 2.1
Px4Flow V2.3 Optical Flow Sensor ( Over I2C )
Lidar Lite V3 Range Finder ( Over I2C )

Parameters:

SYS_MC_EST_GROUP = EKF2
EKF2_HGT_MODE = 2
EKF2_AID_MASK = 2
MIS_TAKEOFF_ALT = 1.5
MPC_ALT_MODE = Terrain following
MPC_XY_P = 0.5
MPC_XY_VEL_MAX = 2
SENS_EN_LL40LS = I2C
??? IS THERE ANY OTHER PARAMETER NEED TO BE SET ??

ROS Messages ( For only velocity control )

/mavros/setpoint_raw/local
coordinate_frame= FRAME_BODY_OFFSET_NED
typemask = IGNORE_PX | IGNORE_PY | IGNORE_PZ | IGNORE_AFX | IGNORE_AFY | IGNORE_AFZ | FORCE | IGNORE_YAW | IGNORE_YAW_RATE

2

Hello friend,
I am currently trying to develope an autonomous flight for a drone in GPS-denied environment as you, also with PX4 and ROS. I have set the exact same parameters as you, but I cant make the drone flight and I dont know if it is because of the lack of GPS. Did you achieve your objective?