Fusing optical flow together with VIO

[hmlow]

Hi devs

Does any one know if it is possible add PX4 compatible optical flow sensors(SPI? UART?) and use them in conjunction with ModalAI's VIO by enabling both sensor sources in EKF2_AID_MASK?

https://docs.px4.io/v1.12/en/sensor/pmw3901.html#hex_hereflow_pwm3901

To be connected on VOXL2

[Steve Turner]

Yes, you can. You may need to evaluate the performance of both at the same time and make tweaks.

[Eric Katzfey]

@hmlow Finding the correct IO will be the challenging part. That particular board uses CAN which isn't supported on VOXL2.

[hmlow]

@Eric-Katzfey sorry I copied the wrong link.
I was actually refering to those with SPI interface.

I suppose I could use J10 on the VOXL2 for that?

[Eric Katzfey]

@hmlow Yes, there is a SPI port on J10