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Trying to improve altitude hold mode using baro
Posted: Mon May 17, 2021 11:22 am
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?
Re: Trying to improve altitude hold mode using baro
Posted: Tue May 18, 2021 9:19 am
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.