Custom optical flow implementation on a companion computer

optical-flow, non-gps-navigation

Hi all,

i am trying to implement a custom optical flow sensor on a companion computer using mavlink messages. The companion computer has access to its own gyro sensor and a range finder.

The idea is to calculate the compensated flow and communicate this to the flight controller via mavlink message (100).

The mavlink message contains fields for the compensated flow (flow_comp_m_x, flow_comp_m_y), but it seems to me that this is not used by the flight controller (see here).

Is it planned that the entire message will be taken into account or should I implement my own optical flow backend/driver?

Thanks in advance