How to install the optical flow module in BF firmware
Open the initial settings, install the firmware screen, select the COM port and click the "load custom firmware" link. If it does not you may need to download, unzip and manually install the px4flow windows driver which may in turn require allowing installing unsigned drivers. The video below shows PX4 holding position using the Ark Flow sensor for velocity estimation in Position Mode: The image below shows an optical flow setup with a separate flow sensor (PX4Flow) and distance sensor (Lidar-Lite): An Optical Flow setup requires a downward facing camera and a downward. If the sensor is mounted to a stabilized gimbal or mount, set FLOW_OPTIONS bit 1 to "1". In order to use the PX4Flow board, connect it to the I2C bus (on any Pixhawk series controller) and enable the driver using SENS_EN_PX4FLOW. Users have three options for installing or upgrading DOCA on BlueField DPU or SuperNIC: This option upgrades DOCA components without overwriting the boot partition. It is working but It requires gps to takeoff so i thought of using aPX4 optical flow sensor which can be used instead of gps for indoor navigation.
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