How to cancel altitude change when flying over obstacle?

ArduCopter
1

Hello,

I’m using range finder and optical flow sensor for indoor navigation(no GPS).
I’m using companion computer to control the drone autonomously.
I want to fly over a table and I want to ignore altitude change in that case.
I found that the EK2_FLOW_USE have to be disabled and I need to limit the range finder altitude to fly over table without altitude change.

My problem is that I can’t use guided mode while EK2_FLOW_USE parameter is disabled.

Someone have an idea how to solve this problem?

2

Did you tryed to use ArduCopter 4.1-beta1 and EKF3 instead of EKF2?

3

Hi, Thank you for responding!

I tried V4.0.7 with EKF3 but I didn’t noticed different behaiver.
I found that when the EK3_FLOW_USE (also EK2_FLOW_USE) is enable for navigation (must for guided flight) I have a lot of altitude hold problems, sometimes it is in bad takeoff (fly way to high or bounced on the ground) it is very inconsistent, While i disable EK3_FLOW_USE the altitude hold works great.