FW Terrain following

[xdwgood]

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

[farhang]

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

Mode "terrain following" with a fixed wing

Hi @Mael_Forestal , IIRC, terrain following is not available for fixedwing yet. I guess it should probably be implemented here: https://github.com/PX4/PX4-Autopilot/blob/835e3258ed941458c95c295c7746d9ad5a07ead0/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp#L494 You can simply use the dist_bottom field from the vehicle_local_position topic to get the estimate of the distance below the drone (using a range finder or an optical flow sensor). Good luck!

@sfuhrer May have any idea?

[xdwgood]

@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.