When flying with a downfacing range finder, I often don’t want use terrain following when flying above a certain altitude. For example: I don’t want the drone to have terrain following when flying 20 meter above trees, but I do like to have terrain following activated when landing. As far as I know, there is no parameter (or another way) to achieve this, so I would like to add this feature to the Ardupilot code.
I would like to add a parameter for each range finder that specifies the height at which the range finder turns off. As the height source I would like to use “Altitude Estimate” as shown below.
I obviously don’t want to make a mess of the range finder code that already exists, so I’m wondering if someone could quickly tell me where this feature could be best programmed.
I’m looking forward to your reply!