We are trying to make the drone land autonomously using the ZRanger. For that, we have to find the code which enables the drone to maintain 40cm. Then, we want to know how the drone uses the sensor's data to maintain this altitude :
- where is the planner (which defines the setpoints entering the controller) ?
- how are the motors controled and where in the code ?
Finally, we want to change the command of 40cm into a ramp.
Unfortunately, we haven't managed to do it yet. Could you help us ?
Thanks a lot
