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Depth-Hold mode custom depth/altitude

Hello, I was trying to set the cutstom altitude using RC channels in depth hold mode and manual mode, however its pretty messy solution. Is there any kind of parameter that can change the target altitude in depth hold mode? I dont use guided mode since i need manual control over the robot with target depth/altitude dependant on sensory data.

Hi, check this gist

thanks for the response
It works! After publishing altitude on setpoint raw/global topic on MAVROS it works perfectly as i wanted it to!

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