Here is an interesting question that I would like to share:
Is the estimation of the terrain altitude considering the attitude of the UAV?
Any pointer to the code?
What happens if I put the altimeter on a stabilized gimbal such that it always point downward?
and here is also the answer:
Yes, the estimation of the terrain altitude takes into account the altitude of the UAV and can be found here.
When changing the altimeter on a stabilized gimbal, you will need to change the code to not account for the tilt angle.
Thanks for your findings. This info is very helpful.
Thanks for moving my answer here ;).
Hi, interesting function, could you tell me where to implement this code in the PX4?
@Zouritte If you have a stabilized range finder, you would have to remove the projection to the vertical axis : https://github.com/PX4/ecl/blob/master/EKF/terrain_estimator.cpp#L122 and maybe increase
range_cos_max_tilt depending of how much your gimbal can move.
If you want to implement it properly and push it back to PX4, you should also consider having a parameter to choose whether the sensor is stabilized of fixed to the drone.