I added a few lines of code to the Baseflight firmware to get optical-flow velocities and sonar altitude from a PX4Flow unit connected to a Flip32 flight controller over I^2C. In the video you can see the readout on the laptop showing the computed X/Y flow velocities (meters per second) and distance (meters), multiplied by 1000.
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someone needs to port AC code to naze32 and openpilot boards :D