My quad copter can balance itself in the air using data collected from mpu6050. With the sonar sensor, it can hover at a specific height, but it moves on the horizontal plane in a random direction. If i put an object below it, it will ascend to keep the distance between the sonar senor and the object.
Now i want to make it have the ability to hover stably. Is it possible to add a downward-facing camera to calculate the speed of optical flow in order to keep it hovering on the same point in the horizontal plane? Could I use a forward-facing camera to stabilize its vertical speed?