Since GPS altitude is noisy, set a conservative RTH altitude. set nav_fw_altitude (for planes) or set nav_mc_altitude (for quads) to (not 50m+). Higher altitudes expose more GPS error.
Some older versions of INAV (pre-4.0) do not show this setting in the Configurator GUI. You must use the CLI. inav-use-gps-no-baro
Tested on: GEPRC Cinelog 35 (F722, no baro) + BN-880 GPS. Since GPS altitude is noisy, set a conservative RTH altitude
Without a barometer, INAV defaults to assuming altitude is zero. This breaks RTH altitude ceilings, loiter mode, and altitude hold. The drone will think it is always on the ground. Since GPS altitude is noisy
Before we dive into the details, let's understand why someone would want to use GPS without Baro in INAV. There are several reasons:
Since GPS altitude is noisy, set a conservative RTH altitude. set nav_fw_altitude (for planes) or set nav_mc_altitude (for quads) to (not 50m+). Higher altitudes expose more GPS error.
Some older versions of INAV (pre-4.0) do not show this setting in the Configurator GUI. You must use the CLI.
Tested on: GEPRC Cinelog 35 (F722, no baro) + BN-880 GPS.
Without a barometer, INAV defaults to assuming altitude is zero. This breaks RTH altitude ceilings, loiter mode, and altitude hold. The drone will think it is always on the ground.
Before we dive into the details, let's understand why someone would want to use GPS without Baro in INAV. There are several reasons: