This is a repository forked from 'betaflight/betaflight version 3.3.x', we modified the functionalities of the original flight control.
For altitude, we only used the measurement of 'TF MINI' for indoor navigation. For altitude hold, we replaceded the series control 'ALT_P->VEL_PID' of betaflight with our own 'ALT_PI+VEL' (the newest version of betaflightit also removed the 'ALT_HOLD').
We connected the flight controller with computation unit 'Jevois', we modified 'telemetry.c' for the communication (MAVLINK meaasges) between high and low controllers. There maybe a better way to realize this, such as sharing serial port ('TELEMETRY' and 'RX').