Hello,
i use the here4 GPS with orange cube +, on a fixed wing plane.
I had a lot of trouble with EKF alt difference, turns out the main barometer by default is the here 4 Barometer which has significant drift due to its external installation.
i tried to set the Baro enable to 0 and -1, to disable the here barometer but it was shown each time on the HW ID screen in MP.
How can i make sure the barometer and maybe also the compass is disabled as i had significantly better performance for the cubes internal barometer and compass.