Hi,
I’m trying to make a drone that works properly both indoors and outdoors using the PX4. First, I built a drone with only GPS and used it outdoors, and it worked without any problems. Later, I made flights using optical flow and distance sensors for indoor use. It was not completely successful indoors. When used indoors at high speeds (1 m/s), drifts occurred in yaw and in some cases shifts in x and y occurred. I will use VIO + GPS + Distance + Optical Flow in the drone I am building now, but how should I adjust the EKF side? Does it make sense to use all of these sensors at the same time? When I plug in this page and click on it, the GPS turns off indoors. My goal is to avoid any problems when going from indoor to outdoor environment. What should I do in this case?
