NOTE: This issue is dependent on that the barometer can be read and the measured pressure can be recalculated to altitude.
A Kalman filter needs to be designed to calculate the altitude and vertical velocity. This will use the accelerometer and barometer to provide state correction updates. The model should include states for position (i.e. altitude) and speed (i,.e. vertical velocity) and operate similarly to the attitude estimation.
The filter will need some tuning to achieve desired performance. It will provide states that an altitude control algorithm can work with.
NOTE: This issue is dependent on that the barometer can be read and the measured pressure can be recalculated to altitude.
A Kalman filter needs to be designed to calculate the altitude and vertical velocity. This will use the accelerometer and barometer to provide state correction updates. The model should include states for position (i.e. altitude) and speed (i,.e. vertical velocity) and operate similarly to the attitude estimation.
The filter will need some tuning to achieve desired performance. It will provide states that an altitude control algorithm can work with.