I have 4 quadcopter there altitude is not same for all 4 currently using barometer as primary source can anyone tell me how to fuse baro and rangefinder in px4

[airsimdevdd]

No description provided.

[bresch]

You can enable range aid to do this: https://docs.px4.io/master/en/flying/terrain_following_holding.html#range-aid

[priseborough]

We can't fuse both baro and range finder in the main filter for vehicle state estimation because they will fight each other. However we do fuse range finder at all times in a single state terrain height estimator which is used to calculate the local_position.dist_bottom

[airsimdevdd]

can you please elaborate in detail i cant understand sir

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On Tue, Aug 24, 2021 at 2:35 PM Paul Riseborough ***@***.***> wrote: We can't fuse both baro and range finder in the main filter for vehicle state estimation because they will fight each other. However we do fuse range finder at all times in a single state terrain height estimator which is used to calculate the local_position.dist_bottom — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#1004 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ASRZFIDRXD7UNHCNJ4BTUDTT6NOD7ANCNFSM43ZLHWAA> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&utm_campaign=notification-email> .