Switch Altitude Sensor (in waypoint and with controller)

Ground Control Software Mission Planner
1

Hello,

Does anybody know how to program the Mission Planner so that you can switch betweeen GPS altitude and SONAR altitude?

I want to be able to do this both, while flying and in a Mission when it has reached a waypoint.

Thanks!!
:smiley:

2

Lidar works in Alt Hold, but not Auto.

Iā€™d like to be able to weigh how the Pixhawk reads input from Lidat, GPS, and Barometer to determine its height. Windy day, less Baro. Over water, less Lidar, etc.