The drone’s perception stack is built around four sensor families. The headline trade-off for our indoor application: we deliberately don’t use a scanning 2D lidar (~$300+) and instead build the same situational awareness from a stack of cheaper 1D and surface sensors that totals under $80.
Four subhubs:
- Distance ToF — VL53L0X×6 array for 360° perimeter coverage.
- LiDAR — TF-Luna for the longer-range downward direction.
- IMU — BNO085 9-DoF.
- Optical flow — PMW3901 (raw chip) or CXOF (Holybro module) for indoor velocity sensing without GPS.
- Companion PC — onboard compute (Jetson Orin Nano).
The design rationale for the cost-vs-coverage trade-off is in the 3-rangefinder sensor stack overview (this page) and in the delivery business case which sets the cost target.
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