Is it possible to implement optical flow with a normal camera or webcam? Instead of PX4Flow?

PX4Flow is expensive, I consider implement optical flow algorithm with OpenCV optical flow api and my webcam, does it possible?

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EKF position failure when flip from loiter

I modified the code (AC 3.3.2) to support switch to FLIP from LOITER.

Most time, it did pretty well. The copter switch to FLIP from LOITER and back to LOITER.

However, this time, when the copter switches back to LOITER, the copter flied to the south mo

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What's the meaning of "angle boost"?

i dont understand the "angle boost" in AC code, and the difference between use angle boost and not.

Could somebody help me?

Thanks!

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Why not allow switch from LOITER mode to FLIP mode?

I've checked the code (AC 3.3.2) and found it is only supported that switch to FLIP mode when in ACRO, STABILIZE and ALT_HOLD mode before, 

because of this "if" statement in bool flip_init(bool) function in file control_flip.cpp:

if (control_mode != AC

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