Hello there Simon, Indeed I left a lot of information vague, but know that you already helped with somethings.
Well, the problem happens in AP_MODE_HOVER_Z_HOLD too... in fact when I start the GCS it start with an accurate current altitude but then right after intiation it starts to change the value, sometimes it goes up indefinitely and sometimes it goes down indefinitely even if I stay at the ATT mode all the time. Ofcourse ATT works cause it does not depend on this kind of reading.
Another thing is that the current altitude and the target altitude is always the same, so the difference in GCS always show 0.
The above the ground indicator on the GCS shows a descente (in the case of the altitude decreasing for example) and a decreasing vertical speed like it is decelerating non stop starting at 0 and going down to -infinite.
All this behavior I mention only happens when I get the GPS 3D. But like I said it starts at the correct altitude and then starts going up or down forever.
My aspirin IMU has no barometer so I'm trying to get it with the GPS, I tried with some diferent INS (no type, extended for example) and AHRS values. Would you recomend something? or is it suposed to work only with the Barometer?
Last configuration tried:
<subsystem name="ahrs" type="int_cmpl_quat"/>
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<subsystem name="ins" type="extended">
<define name="USE_BAROMETER" value="FALSE"/>
</subsystem>
When I use the Default Telemetry I get the ins_z and the ins_zd following the crazy altitude, the GPS altitude seems to be normal, only shows the correct value and doesnt change a lot.
The Vert Mode telemetry I havent tested yet.
What do you guys say?
Thanks very much!