PX4/Firmware — pull request #440 by DrTon (2013-10-05 21:09:25+00:00)
Title: position_estimator_inav: optical flow support

- Implemented optical flow support
- Sonar fixes, altitude and climb rate estimation with sonar should be much more accurate now
- Accelerometer bias estimation using all available sources
- Allow EASY mode with only velocity estimate (from FLOW), WARNING: seamless transition from FLOW to GPS not implemented yet

PX4FLOW firmware with disabled gyro compensation filtering should be used: https://github.com/DrTon/Flow/tree/simple_gyro_comp

Don't merge. WIP, not tested in flight yet