Calculate altitude with mixture of barometer and rangefinder
Opened this issue · 1 comments
ClayMav commented
Since the rangefinder reports the most accurate altitude, but its relative to the thing closest to the bottom of the drone, it will be inaccurate when hovering over obstacles. Find a clever way to decide when to use the rangefinder vs the barometer.
ClayMav commented
One strategy would be to check if altitude and barometer are within a small range of each other (basically the error of the barometer) then use the rangefinder, else use the barometer for altitude.