Use GPS altitude for navigation

Hey there,

I equipped one of my drones (3DR X8+, pixhawk with Arducopter 3.2 based firmware) with an SBAS capable DGPS receiver and expect the GPS altitude measurements to be pretty accurate (<1m accuracy).

Is there an easy way to let Arducopter trust the GPS altitude measurements and use a mix of baro+GPS for altitude? Arduplane has the parameter ALT_MIX, I couldn’t find it on Arducopter though.

Thanks a lot for your help!

I’m also interested in this. Did you find a way to force the usage of GPS altitude?