Althold mode from self-written client

[jonaspriest]

Hey guys,
within a 6 months university project we are currently working on a so called "Rescue and emergency drone" which uses the Crazyflie 2.0.
You can have a look if you're interested: https://github.com/fred-project/

However, it's the aim to fly routes with the CF without using an external navigation system like GPS. We wrote our own grid and are willing to calculate our position relatively to the start-point. Flying routes will be location based (X, Y, Z) than, too, of course.

We wrote a big Control API that wraps the cflib. Now we come to the point where we want to start flying autonomously. So the first approach is to start the drone from the ground until a certain altitude is reached and hold it there. At first we had the idea to write our own altitude-holding-mechanism on client side. Now we red that there is already an altitude mode implemented on the firmware side.

Is it suitable for our case? How could we use it effectively from our client?

[poizone]

The current one uses the barometer to hold pressure level. Not very useful outdoors or in drafty areas. My sealed apartment doesn't even let it hold too well.