Hi there,
I have a vehicle equipped with GPS for ability to fly outdoors when GPS is available, but it also flies indoors in GPS-denied environments. I am reading the Indoor Flying Guidelines, which states
Disable GPS in non-auto** modes - set AHRS_GPS_USE to 0
https://ardupilot.org/copter/docs/indoor-flying.html
However, when I go to AHRS_GPS_USE in Mission Planner, the popup help window says
A value of zero should never be used for normal flight.
I am hoping to get some guidance here because it seems to be conflicting information, dependent on how one defines “normal flight”.
As it is, my RC9 is set to 90 (EKF Source Set) to switch between using GPS and Optical Flow/LIDAR depending on whether I am flying outdoors or in GPS-denied environments. So, should I write a script that monitors RC9 PWM and set AHRS_GPS_USE = 0 using Optical Flow and set AHRS_GPS_USE = 1 when using GPS? Or should I just leave it to 1 or should I leave it to 0?
Thank you
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