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

takumi · October 7, 2016, 8:19am

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.

CarlOlsson · October 8, 2016, 7:20am

Hi,

Yes it can, see:

github.com

PX4/ecl/blob/master/EKF/vel_pos_fusion.cpp#L36


* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/


/**
* @file vel_pos_fusion.cpp
* Function for fusing gps and baro measurements/
*
* @author Roman Bast <bapstroman@gmail.com>
* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
* @author Paul Riseborough <p_riseborough@live.com.au>
*
*/


#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>

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

Topic		Replies	Views
Altitude control only with baro in indoors PX4 Autopilot	3	1773	January 4, 2018
Use GPS for offboard global position control FW PX4 Autopilot	4	924	March 6, 2020
Baro only altitude mode? PX4 Autopilot	0	650	October 14, 2016
Height fusion from GPS and barometer by EKF? PX4 Autopilot	0	30	September 9, 2024
Disable Baro fusion in EKF2 PX4 Autopilot	2	1680	July 23, 2019

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

Related topics