Hi @ohitstarik,
Any further changes are a significantly larger project. We have an EKF prediction of ground level that we would like to move to but this will be a slower project. We will also need to improve logging around this as you have noted.
There is a halfway solution where we could filter the ground level prediction that should let us set a lower filter value without getting oscillation. However this would be custom code that probably won’t end up in master.
@ohitstarik
I’m experiencing a similar (probably the same) issue and it seems to still be there in AC4.3.5RC1. Is there any other solution you can suggest to overcome it?
Would anybody like to test some code for me?
I could back port this to 4.3.4 or I can provide master.
I’ll get that code from github and test it.
@Leonardthall
I’ve checked 4.4.0 dev and all the issues are gone, confirming that the code you suggested was applied.
Thanks a lot.
It was not a noise issue, it was an issue with the terrain following logic when using rangefinder.
