Purpose of VFC
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So for anyone that has the same a question about VFC as I did, this post is just to answer the question.
The purpose is to be a more robust system that doesn't get PX4's state and EKF from being corrupted when VIO fails. So in essence it is a more graceful way for the drone to fail out of Position mode into altitude mode. So the functionality and performance seem to be the same as the drone using position odometry data just in offboard mode. More changes maybe in the wood works but as of June, 2025, this is its purpose so far.
