EKF3 altitude; barometer vs GPS

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?



Take a look at my copter post might be useful

David Ardis

1 Like

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

1 Like