MAVROS PX4 Altitudes

Hey guys,

which one is the best altitude message to subscribe to if I want to get the altitude between ground and drone?

I know that there are many altitude messages to subscribe to e.g.:

  • global_position/rel_alt
  • global_position/global
  • local_position/pose
  • altitude

At the moment I am using the local_position/pose altitude and have noticed that this altitude is not very good. Even when I start the drone on the ground the altitude is at 2m.

Does anyone has a hint which altitude message would be best to use?