Px4 optical flow sensor simulation with raspberry and camera

[Cyraxkane]

I have Raspberrypi 5 4GB and camera siyi zr10. I wana make my pixhawk drone with mission plan on gps denied area. Which is easiest method to make above project and any others idea for flight with companion computer (raspberry pi) and pixhawk on gps denied area. I also start to develop Raspberry pi and camera as optical flow module and import it as sensor data to flightboard and then fly stability and continue mission plan with calculation of speed and time calculation it can be possible?