I’m attempting to setup two different rangefinders to run on the Pixhawk 2.1 simultaneously. The ArduPlane code has most of the functionality we need already built in. However, I am trying to setup a couple parameters which will allow for changing the weighting placed on the reading from each sensor on the fly.
Looking through the rangefinder & Plane libraries, I haven’t been able to figure out how data from multiple healthy sensors is combined into a reading. If someone more familiar with the code could point me in the right direction, it would be much appreciated.