Was curious if there is any thought/movement toward multi-optical flow for added position hold in environments where downward facing optics might be obscure (say over water or if an optical flow sensor gets blinded with mud).
I imagine that this would take an efk2 change as well as PX4 supporting multiple lidars that wont be used for alt sensing.
Was just curious. Thanks!
I’ve done this with multiple instances of ekf2 (each using a different flow sensor) and it might help with redundancy edge cases, but otherwise doesn’t provide much value.
What I’d actually like to try is adding it properly as a new dedicated aid source in the EKF backend (ie optical flow 1, optical flow 2). That way you have additional corrections from each and the ability to catch failures independently.
