I have a question about range sensors for a quadcopter. We use Pixhawk 3 Pro with
- TF mini Lidar (https://docs.px4.io/v1.9.0/en/sensor/tfmini.html) for height measure
- PX4 Flow (https://docs.px4.io/v1.9.0/en/sensor/px4flow.html) with ultrasonic sensor (MaxBotix I2CXL-MaxSonar-EZ) for height measure and movement in x a y axis.
We would like to use for indoor stabilization. Is there any way how to know which of two sensors will be PX4 using for EKF2? [SENS_TFMINI_CFG] and [SENS_EN_MB12XX] are enabled. From quick tests, it seems that EKF2 using only TF mini, but I’m not 100% sure.
I can also disable the ultrasonic sensor, to be sure that EKF2 using only TF mini for altitude estimation. Is there any way how to use both of these sensors and how to set up?
Thanks a lot for the reply.