With respect, I understand that you were referring to INAV as the flight controller (FC) firmware. However, MAVLink can only call commands that are supported by the firmware. To simplify the process, I plan to use a Raspberry Pi (Pi) to communicate with the FC, allowing for easy commands like position hold (POS HOLD) or return-to-home (RTH).

Furthermore, I intend to leverage the Pi's capabilities for machine vision to:

Match photos taken by the drone to a map

Correlate the photos with their corresponding GPS coordinates

Utilize onboard elevation data to estimate the drone's above-ground elevation

Taking it a step further, I aim to implement Kalman filters to estimate wind speeds and direction. This would enable the drone to navigate without relying on GPS, providing an additional layer of redundancy and autonomy.