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thanks very much for the detailed reply!
I will share results when available.

hello, following up on this topic, I currently use cmd_hover on Crazyflie 2.0 with flow deck, and no external position tracking. I can control the Crazyflie using this command but it is much more stable when using it with position commands (currently using python cflib outside ROS). The crazyflie_se...

I am considering doing this too, using RtabMap. I will be happy to know any information you can share. one of the problems I see in previous works is analog video noise artifacts.