Author of the referenced work here. I have to disagree with this, at least with the motion tracking system part. The optical flow deck [1] works like magic and

Author of the referenced work here. I have to disagree with this, at least with the motion tracking system part. The optical flow deck [1] works like magic and can maintain low drift positioning even when doing relatively fast and agile maneuvres. For an example you can have a look at our video [2] (e.g. the disturbance rejection tests at 3:00 and after are solely using the optical flow deck) [1] https://www.bitcraze.io/products/flow-deck-v2/ https://www.bitcraze.io/products/flow-deck-v2/ [2] https://www.youtube.com/watch?v=NRD43ZA1D-4&t=198s https://www.youtube.com/watch?v=NRD43ZA1D-4&t=198s