>It looks like Ingenuity uses visual odometry from a downward-facing camera, which is likely to require a lot more processing than something like an STM32 could

>It looks like Ingenuity uses visual odometry from a downward-facing camera, which is likely to require a lot more processing than something like an STM32 could provide. I believe that for Ingenuity they are actually doing this in software; but at this point, you can just buy off-the-shelf an optical flow odometry ASIC with a built-in camera and lens system that draws <5mA, fits in a 4x5mm footprint and gives you delta-X and delta-Y. e.g. https://www.pixart.com/products-detail/108/PAA3905E1-Q https://www.pixart.com/products-detail/108/PAA3905E1-Q Kinda mind-blowing.