Need alt estimate in alt. hold mode

ArduCopter Copter 4.3
1

@rmackay9

Hi.

I have an issue that i cant solve. I use 4.3.2 in a quad config. Downfacing lidar attached ( Lightware SF000 ), with good reading.

Now, i want to use it for testflying indoors, but the FW doesnt use the lidar for alti control. I was using the exact same setup in 4.1.5, and that worked perfect.

Do i need to set it up as a proximity sensor as well? In the documentation it say that it will use the downfacing lidar for altitude control if mounted and when in range for the sensor.

Any ideas how to solve this?

Thanks!

2

Hi @UASSWEDEN,

It should use the downward facing lidar in manual modes (AltHold, Loiter, etc) as described in on the Surface Tracking wiki page.

It would be good if you could double check the wiki page and compare to your vehicle’s setup. If that doesn’t help then maybe post an onboard log file. For detailed investigation we really need an onboard log file.

Txs.

P.S. I’ve moved this topic to the Copter-4.3 category. hope that’s OK.