"Thanks for your reply, Randy
I will try to attach a optical sensor to achieve the navigation, though my copter may work in a dark enviroment.
Thank you!"
"Hi, Randy
I am working on indoor navigation, I am using ArduCopter v3.2.1 code.
I want to get current velocity and position from inertial_nav without GPS, and I follow your tips: in v3.2.1, set_current_position() change to setup_home_position(), so…"