Hello, I’m trying to implement altitude hold on BlueROV using altitude measurement from a DVL. I followed some code snippets in ping1d_mavlink_driver and pymavlink, but neither worked. I taped the pressure sensor and the vehicle sank once I enabled alt_hold mode. Is the altitude hold not supported anymore in this commit?
So I have a few questions with regard to altitude and depth hold modes.
- What’s the easiest way to implement altitude hold assuming altitude is available? I could write a PID controller for that but it will be great if I can leverage existing functions in ArduSub.
- Is there a way to change the desired depth value in pymavlink during depth hold mode without using a joystick?
- When I changed the depth during depth hold mode, I noticed that the vehicle jerked a little bit as you can see from the figure. As a result, the vehicle didn’t hold the exact depth when I released the depth knob.