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