Optical Flow in Loiter mode

Is it possible to fly in LOITER with optical flow (As opposed to FLOWHOLD)?
I wish to control the velocity as opposed to the lean angles.

The documentation of flow hold states that the height and velocity are estimated, even with no lidar\sonar.
Does Loiter require a distance sensor?

Thank you!

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Bump… I’m curious about this as well

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Just ran into your post.

Yes, to fly with optical flow in Loiter requires a ranger finder.

FlowHold does not require ranger finder, but unfortunately, does not offer same stability at least based on my experience.

Hope this helps.

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