Vehicle Setup
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Autopilot: Pixhawk 6C mini
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PX4 Firmware Version: v1.17.1
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Frame: Multirotor (Quadcopter)
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Companion Computer / Interface: Companion computer [Vicharak Axon] running MAVSDK Python (Offboard control via TELEM2)
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Height Sensors: Internal Barometer, GPS [CUAV Neo 3 Pro]
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Flight Log Link: https://logs.px4.io/plot_app?log=be8dbf81-68c4-48e0-b559-cbadcf979396
Description of the Issue
I am encountering an altitude estimation discrepancy and stability issue.
1. Static / Takeoff Altitude Bias
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Takeoff is commanded to 2 m relative altitude.
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The autopilot/telemetry reports that it has reached 2 m, but physically the drone is only hovering higher or lower above the ground.
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The reported EKF2 altitude stays clamped near ~2 m while the actual drone is much lower or higher.
2. Inconsistent / Erroneous Altitude Display in QGroundControl
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At times, QGC shows the drone as never reaching the commanded target altitude, even though the vehicle has physically stabilized there.
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At other times, the altitude value displayed in QGC goes negative, despite the drone being airborne and well above the ground.
I have tried both using GPS and Barometer as the primary altitude source by configuring the following parameters, but it does not seem to work
Parameters
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EKF2_HGT_REF = 0 / 1— Barometer / GPS -
EKF2_BARO_CTRL = 1— Barometer enabled -
EKF2_GPS_CTRL = 5 / 7— 2D / 3D position -
EKF2_ABL_LIM = 0.4— Baro bias estimation limit -
EKF2_BARO_NOISE = 1.5 / 3.5
Any insights or recommendations on parameter adjustments or hardware isolation best practices would be greatly appreciated!