I have recently installed in my drone the HereFlow sensor combined with a LW20/c LiDAR and I have performed several tests indoors and outdoors with the GPS disabled (EK2F_GPS_TYPE=3).
The results obtained so far are great. The drone has been flown in loiter mode during the tests and it has been able to maintain the precission precisely.
Now after these tests I’m wondering how the HereFlow when both, the GPS and the OF sensor, are enabled at the same time in loiter mode. Is the positioning information going to be taken exclusively from the GPS, HereFlow or both at the same time?
In the case of only one of them working, if it’s using the GPS and suddenly we enter into a zone of low GPS coverage, is the HereFlow going to take over and start to be sensor used for the positioning?
Last of all, I would like to know if there is any “basic” configuration in MissionPlanner that allows performing flights in indoors and outdoors without having to change any settings using the GPS + HereFlow. Until now, everytime I want to flight indoors, I have to uncheck some preArms related to the GPS in order to be able to arm the vehicle, due to the bad GPS health indoors. I guess leaving the GPS preArms unchecked could work but it’s a solution I would like to avoid if there is another way of doing it.