I just realized I don't know what the z sensor is for. I have an rc aircraft with the FMA setup and I understand how it works but what is the z sensor giving us?
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The Z sensor is used to calibrate the XY sensor without having to point the XY sensor at the sky and ground prior to flying. Since one of the Z sensor's IR sensor is looking at the ground and the other is looking at the sky the Ardupilot can determine the temperature difference between the sky and ground automatically and periodically update the XY sensor calibration during flight.
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The Z sensor is used to calibrate the XY sensor without having to point the XY sensor at the sky and ground prior to flying. Since one of the Z sensor's IR sensor is looking at the ground and the other is looking at the sky the Ardupilot can determine the temperature difference between the sky and ground automatically and periodically update the XY sensor calibration during flight.
Regards,
TCIII