Can PX4 perform altitude estimate & position control only use barometer?

Hi everyone, I am studying in PX4 firmware, that was an amazing project, and I wonder to know can px4 perform altitude estimate and control if the quad only has barometer? I want to flew the quad indoor and I hope the quad can handle altitude by itself so that I can just focus on pitch/roll/yaw control.


Yes it can, see:

However I haven’t tried flying in altitude controlled mode indoors.