I am developping an external position estimator for indoor flights. (UWB)
The height measurment with barometer is not accurate for the indoor flights especially for low altitudes (< 1m)
Is there anyway to disable barometer fusion in EKF2 ? I know it’s possible in LPE but I would prefer to keep EKF2 because it is actively supported.
as far as I know you can set the height sensors via EKF2_HGT_MODE.
That is the setting for the EKF2.
Depending on your setup you might be able to use any of the options.
EKF2_HGT_MODE (INT32) Determines the primary source of height data used by the EKF
Comment: The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
0: Barometric pressure
2: Range sensor
Reboot required: true
Ok thanks for your help, I will try it !