How to disable surface tracking in loiter mode

ArduCopter Copter 4.0
1

Hello everyone,

Mine quadcopter doesn’t have a GPS installed, so it utilizes a rangefinder to monitor altitude. I prefer not to have surface tracking in loiter/althold mode, so I’ve disable the surface tracking parameter but quad still rise whenever it detect obstacle in downward.

Anything that I missing? Please help

Thanks
KH

2

I think you can assign a switch and RC channel, and in Arducopter set RC10_OPTION,75 for “SurfaceTrackingUpDown”

And from the documentation:
An auxiliary switch (function “75”), or Auxiliary Function Switches (3.6 and earlier), can be configured to turn on/off use of the rangefinder.

1 Like
3

Are you referring to this parameter?

You may want to understand a bit more on this.

Shawn message is explained here.

4

I had done this but surface tracking still happen

5

yes correct. I set SURFTRAK_MODE= 0. Cause mine quad is designed for indoor environment. Is that possible for me to hardcoded so that target_alt remain same?

6

Here is my experience I can share, hope it is helpful to you. Same our drone is for indoor too. Can we know which flight control hardware are you using?