Sonar requirements

[kpihus]

Hi,

I have PX4Flow board in use, with this firmware. Quad also has dedicated lidar for a rangefinder. PX4Flow board ultrasonic sensor is desoldered.
So my question is this sonar needed by this firmware, or it is not in use.

FC: Pixhawh 1, with PX4@v1.9.2

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Kpihus

[jlecoeur]

The PX4Flow firmware uses the sonar to scale optic flow and estimate velocity. It sends optic flow, distance, and speed estimate to the autopilot.

However, the PX4 firmware does not use the speed estimate computed on the PX4Flow. Instead, it fuses optic flow and distance measurements with an EKF.

TLDR: it is OK to unsolder the sonar.