Bitcraze Forums

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I can't think of a way to do this without modifying the firmware. It requires updating some files but not impossible to do. First of you should run the kalman filter. Then into this you can inject height measurement. See the zranger as an example. To get the values from the PC to the crazyflie use the location service. However there is no implementation for height only so you would have to implement that, similar to the extPosition which sets the full position. You should create a new typee in the generic type section which sets the height as the zranger does it. However it does not stop there, you will also have to update the python cflib with functions so you can push the height.

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