# Fusing optical flow together with VIO

Source: https://forum.modalai.com/topic/2000/fusing-optical-flow-together-with-vio
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-03-27 05:01:36 UTC by hmlow
Replies: 4 · Views: 1019

## hmlow · 2023-03-27 05:01:36 UTC

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

## Reply by Steve Turner · 2023-03-27 14:52:58 UTC

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

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-27 15:01:26 UTC

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

## Reply by hmlow · 2023-03-27 15:47:45 UTC (in reply to Eric Katzfey)

@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?

## Reply by Eric Katzfey (ModalAI staff) · 2023-03-27 15:51:54 UTC (in reply to hmlow)

@hmlow Yes, there is a SPI port on J10