I’m currently integrating GPS NMEA protocol by indoor beacons with 4cm accuracy (marvelmind).
I’ve mounted everything and px4 gets the nmea setences that gives 3D position.
Innitially I was geting some 2D position drift in hold mode and wrong altitude, but changing some parameters I fixed the position but the altitude is wrong.
When I check the log of my flights, the variable gps_global_position-> alt is really different from vehicle_gps_position-> alt, while the vehicle_gps_position has the actual correct values from altitude, given by the GPS.
I’m thinking that this could be a problem related with estimator, since the accurary of conventual GPS isn’t that low, and with that, I need to change some of EKF2 parameters.
Is there someone that can help me with this?