How is canonical altitude calculated?

Does anyone know exactly how altitude is calculated for canonical position (POS message)? I assume it’s a combination of barometer and GPS altitude data, weighted toward barometer. I’ve got ArduPlane 3.x source code, but haven’t been able to find the calculation yet.


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Excellent, thank you!

Depends on which estimator is in charge; either an EKF or DCM will provide
the estimate going into that field.

EKF is a combination of barometer, GPS and accelerometers (tunable).

DCM is basically filtered baro.

Also - Plane’s current stable release is 4.x…


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So I can configure whether to use EKF or DCM? Can I tell from the flight log which technique was used?