PX4 Sync / Q&A: April 02, 2025

dakejahl · April 2, 2025, 3:40am

I want to discuss altitude estimation issues. I’ve opened a PX4 issue here

[Bug] Altitude estimation issues

opened 03:33AM - 02 Apr 25 UTC

bug-report

### Describe the bug Airframe is the Dexi (ARKV6X + ARK Flow) - No GPS - Flow +… Distance sensor for postion/altitude hold Below is a quick hover test in Manual mode inside my house. https://review.px4.io/plot_app?log=2d4d8f06-edca-4e79-a5b9-5c729d971e15 The plot on the left is from EKF replay with EKF2_HGT_REF set to Range ![Image](https://github.com/user-attachments/assets/f8775776-8c3f-41b7-8874-cbd7b1ca7734) As you can see when EKF2_HGT_REF is set to range the estimate tracks the distance sensor once it starts to hover, although there is still a large bias in the estimated height (I've applied an offset to show that they align) ![Image](https://github.com/user-attachments/assets/42c69609-da7a-491b-9ea9-46cd6e8c15b8) **The problem** The issue I want to focus on however is the standard case where EKF2_HGT_REF = 1 (GPS). Since we are not moving horizontally and the distance sensor data is continuous, we _should_ meet the requirements for "range aid". This should allow the autopilot to control the Z position around the distance sensor data directly.

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PX4 Sync / Q&A: April 02, 2025

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