Trying to improve altitude hold mode using baro

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Spordos
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Posts: 8
Joined: Mon May 17, 2021 11:15 am

Trying to improve altitude hold mode using baro

Post by Spordos »

For an internship im currently looking to improve the altitude hold assist mode, but I am struggling to find the scripts responsible for this mode's functionality. Can anyone point me in the right direction?
tobias
Bitcraze
Posts: 2339
Joined: Mon Jan 28, 2013 7:17 pm
Location: Sweden

Re: Trying to improve altitude hold mode using baro

Post by tobias »

Hi and welcome!

The code running the altitude estimation is in the position_estimator_altitude.c. That is if the complementary filter is running. If the Kalman filter is running it can be enabled by building the code with KALMAN_USE_BARO_UPDATE defined.
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