FW Terrain following

Currently PX4 does not support terrain following in fixed-wing mode? Does anyone know what I should do to support terrain following in fixed-wing mode? thank you

Hey,
Probably you have come up with this old thread:

@sfuhrer May have any idea?

@farhang thanks for your replay

As you said, that link is too old, and the current fixed-wing controller can’t find the relevant content. My idea is to realize this function by changing the parameters of EKF, which only fuses lidar data.

The EKF is driven by the IMU and the IMU cannot sense the terrain height change. Tweaking the EKF to achieve terrain following it taking the problem the wrong way around. It’s fine if you need something to work right now for a demo tomorrow but it will never work nicely.

I can’t tell you exactly how to do it but it should probably manipulate this height rate setpoint or maybe directly adjust this altitude setpoint.

Any better idea @sfuhrer ?
(talking about terrain following in manual modes here, not auto)