I am doing some testing with the beta 5 and altitude, using gps as the primary source for alt and also using gps for yaw, so that forces me to use EKF3.
Below, TLOG and DATAFLASH LOG
From comparing Ctun-Alt e GPS-Alt, the gps alt has more stability and I couldn’t figure out what was causing the oscillation in Ctun-alt
Is there a way to disable barometer through code modification? I want to test what the ekf would show if only the gps was enabled.