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This is a top-level issue to capture a list of all the ways that terrain following could be improved in autonomous (Auto, Guided) and non-autonomous modes (like Loiter):
BTW it would be great to have RANGEFINDER_WPNAV_FILT_HZ not hardcoded but to have it as ardupilot parameter. It is not critical but may be good feature for users.
Here is the case:
We meet some problems with current "settings" when fly close-to-the-ground missions because rangefinder data goes to WPNAV with relatively large lag (because of filter). (BTW in logs the unfiltered data is saved so i spent some time to understand the reason of problem :) )
Our common case is to fly to survey area at 5-10-20 meters above the ground and then make descend to 1 meter above the ground (in global terrain frame). When drone descends with standard 1.5 m\s - there could be the problems. If we "set" RANGEFINDER_WPNAV_FILT_HZ to 0.8 - results are much better.
Here is SITL example of two equal lights with different RANGEFINDER_WPNAV_FILT_HZ
Of cause we can handle it by setting descend speed to some small value, but i think adding RANGEFINDER_WPNAV_FILT_HZ as a parameter will make overall rangefinder process more clear for interested users.
This is a top-level issue to capture a list of all the ways that terrain following could be improved in autonomous (Auto, Guided) and non-autonomous modes (like Loiter):
Resolved issues:
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