Nowadays, I have been working on terrain following. First of all, thank you guys for the amazing improvement in the terrain following!
I would like to request an enhancement for the terrain following with a rangefinder.
The current version of Copter keeps increasing its altitude when its altitude is higher than the rangefinder’s maximum distance.
As far as I know, that’s why there is WPNAV_RFND_USE parameter.
However, is there any way to automatically switch the rangefinder and terrain data?
For example, when the Copter’s altitude is less than RNGFND1_MAX_CM, it leverages the altitude from the rangefinder. If the altitude is higher than RNGFND1_MAX_CM, the Copter uses the altitude from the terrain data.