Dear all,

I have a question about using px4flow with LPE. In my opinion, LPE employs kalman filter to ‘estimate’ the position including height, x and y bias, right? So, is it possible that we can disable the sonar on px4flow and only uses camera to get the pixel flow and let the estimator do the height estimation only based on baro. Will this manner give a precise height estimation?

PS: The reason is that if we want to fly indoors, sonar can only give us a maximum ranging of 5 meters. If a higher altitude is desirable, we can only resort to baro. That’s why I ask this question. Any advise is appreciated. Thanks.