I would like to send altitude data produced by embedded, downward-looking range finders (VL53L1X and teraranger evo 60m) to the auto-pilot. I would like to do it over mavros since I already have interfaced the sensors over ROS on a companion computer.
Should I try to use the
/mavros/vision_pose/pose topic? I also heard that the
distance_sensor uorb topic could be used (don’t know the mavros equivalent though). There are also several PX4 parameters (
EKF2_HGT_MODE) that have to be set (defining when to use the range finders, e.g. at takeoff and while landing), but I am not sure if those parameters are supposed to work only with supported flight controller hardware when connecting specific range finders directly to them.
Long story short, I haven’t found a clear way of publishing altitude data over mavros to let the EKF2 fuse this information into the state estimate. Any hint?