Enhanced altitude hold mode - intelligent sonar response algorithm

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I propose a new altitude hold mode that makes sonar response algorithm more 
"intelligent", accepting step changes while maintaining altitude.

I elaborate my ideas in the PDF attached to this article.

Also have started a forum thread on the topic:
http://www.diydrones.com/group/arducopterusergroup/forum/topics/suggesting-a-new
-altitude-height-mode

Original issue reported on code.google.com by tomas.so...@gmail.com on 3 Jan 2012 at 4:09

Attachments:

• [New Altitude control mode for ArduCopter.pdf](https://storage.googleapis.com/google-code-attachments/arducopter/issue-306/comment-0/New Altitude control mode for ArduCopter.pdf)

[GoogleCodeExporter]

many of these ideas have been incorporated into the 2.9.1 suface tracking method

Original comment by rmackay...@gmail.com on 5 Mar 2013 at 6:42

• Changed state: Done