Open fs007 opened 4 years ago
@rmackay9 I see that in the "Copter: 4.0 issues list" https://github.com/ArduPilot/ardupilot/issues/12547 this issue is under "Could not be verified OR not a problem" but i think that something should be done for this reason:
Copter 4.0 (actually this bug existed since copter 3.4)
There is a coding error in AP_NavEKF2_PosVelFusion.cpp that prevents the rangefinder from being used as primary Alt-Source even if the EK2 parameters are set accordingly (EK2_RNG_USE_HGT > 0; EK2_ALT_SOURCE = 0)
No matter, which value frontend ->_altSource has, all the code of “// determine if we are above or below the height switch region” is NEVER executed !
Discussion here