I'm most interested in the Starling 2 slam outdoor performance. I know that the sensor configuration (tof+tracking) of the drone works best indoor due to the relative short range of the tof sensor. However i would like to know if you have some data about outdoor performance. Is it completely unusable or it works only in certain environments? If objects are outside of the tof range does the localization still work only with the trackers (visual odometry)? If so, how far from the ground or the surrounding objects can the drone be to localize?

Going back to a indoor environment, in case of bad lighting conditions does the slam algorithm work properly even without (or with a limited) help from the tracking cameras? Is the tof also influenced by the ambient lighting?
Thank you