Indoors Flight with ArduCopter Quadrotor (no GPS)

First almost successful indoors flight with my under 250g quadcopter taking off and hovering programmatically. The quad is anchored to avoid flyaways and shocks with the roof. This flight was done using GUIDED_NOGPS mode, but I'd like to do it using LOITER mode, once it could use the LiDAR and optical flow sensors to fix a position without GPS. But, unfortunately, I could not make it work in LOITER yet. If someone has any tip, will be very welcome. The programming was done in Python using DroneKit library and the code can be seen at discuss.ardupi... .
Best regards!

[@jasonz332]

Good video! Is this the drone with the Thoneflow module? Why the drone doesn’t fix to one point

[@maroquio]

Yes, it uses Thoneflow, but the optical flow was not being recognized. After some tries, it worked well. :)

[@techmontc8360]

@@maroquiohi sir, how do you enable optical flow in your code ? From my run, the drone able to maintain its altitude with rangefinder but i want it to hold position in denied gps area.