# Indoor Autonomous Flight requirements

**URL:** <https://discuss.px4.io/t/indoor-autonomous-flight-requirements/10654>\
**Category:** PX4 Autopilot\
**Created:** [April 25, 2019, 3:31pm UTC](https://discuss.px4.io/t/indoor-autonomous-flight-requirements/10654 "2019-04-25T15:31:46Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![saucompeng](https://discuss.px4.io/user_avatar/discuss.px4.io/saucompeng/32/4045_2.png) [@saucompeng](https://discuss.px4.io/u/saucompeng)\
**Post date:** [April 25, 2019, 3:31pm UTC](https://discuss.px4.io/t/indoor-autonomous-flight-requirements/10654/1 "2019-04-25T15:31:46Z")

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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

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<div class="post-metadata">

**Author:** ![JuSevRo](https://discuss.px4.io/letter_avatar_proxy/v4/letter/j/8e8cbc/32.png) [@JuSevRo](https://discuss.px4.io/u/JuSevRo)\
**Post date:** [February 17, 2022, 5:16pm UTC](https://discuss.px4.io/t/indoor-autonomous-flight-requirements/10654/2 "2022-02-17T17:16:13Z")

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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?