Firstly sorry for my bad English. I am using a quadcopter with APM including GPS and 3DR radio. Normally I can plot/see position in Mission Planner using this configuration. Now I want to fly my quad inside a very big tunnel where GPS signal is not available. But still I want to plot/see its position in Mission Planner. How can I do this?I know APM uses EKF ( Extended Kalman Filter). Is it possible to use EKF values for plotting without GPS? When GPS signal is not available, does APM calculates assumed Lat, Long, Alt and other values using EKF? If yes, then how can I capture these values? If no, then how can I calculate assumed Lat, Long, Alt and other values using EKF and use them for plotting in Mission Planner?

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