Navigation without gps

I’m trying to fly my quadcopter without GPS, I gonna use only compas for navigation
But I’m not sure if it possible,
to be in AltHold mode (to have automatic altitude control)
to move in target direction by lua script, correcting Yaw (relying on compas), Pitch and throttle level
Maybe you have some thoughts, could you give me some tips, to continue my work in the right direction
Thank you! :slight_smile:

Guided_NoGPS can be used for that if you have some source of desired heading/course.

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