November 2, 2021, 4:57pm
EKF2 has a parameter *
EK2_ALT_SOURCE: Specifies which sensor to use as the primary altitude source; barometer, GPS, or range-finder (N/A). I haven’t been able to find a similar variable for EKF3. Does EKF3 allow disable of GPS for altitude calculation?
November 2, 2021, 7:56pm
Take a look at my copter post might be useful
Thanks for trying out Copter-4.1.0.
I had a quick look at the log and I think if the EK3_SRC1_POSZ parameter is set to 3 (“GPS”) then the vehicle should use the GPS for altitude. I see the parameter so hopefully it should show up in the full parameter list. I’m sure it will show up in Mission Planner although I’m a little less sure about QGC.
It is failing to enter Loiter mode (probably) because the EKF doesn’t yet have a good position estimate. It looks like the vehicle was armed…
November 8, 2021, 9:55pm
EKF3 uses the EK3_SRC parameters to control the sensor sources for all types of inputs.
This is the parameter you want:
the default is to use baro for altitude, but GPS for vertical velocity