New Altitude control mode for ArduCopter.
Suggestions by Tomas Soedergren
In the current Altitude hold mode available on the AC (when writing this I refer to FW 2.0.55), sonar sensor activated, there are scenarios where the copter response on sonar signal will not be optimal for the flight mission at hand. These mission could probably be carried out well by just disabling the sonar feature, but it would be even better to have sonar engaged and to program some intelligence into the algorithm. Pleas read this PDF (about one and a half page) where I describe the current shortcomings and suggestions for improvements.
It is a half-baked idea. It certainly needs scrutinizing and refinement from you, the community.
Let me know what you think.