I’m trying to build exactly the same, optical flow + lidar controlled drone for indoor position hold. I have a GPS added recently but I still get this position estimate error. I also don’t have a compass. Could you explain what were the settings you used to make it work? Or even post the params?
We think the height holding is acceptable but not the xy position holding. We tried firmware versions, 4.3.3, 4.3.2, and 4.2.3.
Are there any parameters we can try to look into and improve? Is there anything from the flight log we can analyse to narrow down the cause? Is there a better indoor flight mode than Loiter flight mode? Which firmware do you use?