ALTH and Loiter - Altitude Parameter?

ArduCopter Copter 4.6
1

Hello,

When the pilot is flying in ALTH or Loiter mode, my understanding is that the autopilot attempts to maintain the altitude using some sensor source set with EK3_SRCx_POSZ. So, presumably that altitude value is stored somewhere. Is there a way to get, and preferably, set that saved altitude value via script?

General code being something like:

– get altitude
local pilot_des_alt = ahrs:get_alt()

– set altitude
ahrs:set_alt(new_alt)

Thank you

2

Hi @tdempsey,

In general Lua scripts can only control the motion of a vehicle while it is in Guided mode similar to how the vehicle is controlled from a companion computer using mavlink.

The reason AP does it this way is that it means the pilot can always retake control from Lua scripts.

Recently it’s become possible to write a new flight mode completely in Lua. This is included in 4.6 but I must admit that I haven’t tried it yet.

3 Likes
3

Thanks, I will look into those links!

1 Like