MPC_ALT_MODE= terrain following during offboard flight

1

hi guys
we made some test flights and noticed some small changes in the quadcopter hight during the flight .
we using lidar and flying thrugh straight line in constant hight that we send (1.5m) .

we trying to configure what will be the best parameters to get constant height we are flying very slowly .
currently our settings are :
MPC_ALT_MODE= terrain following
EKF2_RANGE_AID= enable
EKF2_HGT_MODE= barometric pressure.

is it possible that terrain following with lidar getting also map heights that effect the inconsistent height during the offboard flight?

2

any help will be much appreciate @JulianOes

3

Sorry, I have never played with these params. Let me ping @bresch.

1 Like
4

Terrain following only work in Altitude and Position modes, it’s not implemented for other modes.

5

Thanks bresch
What about terrain hold?

6

Same thing, those alt modes are for position control, unfortunately not offboard or mission.