Altitude hold

[rtlopez]

No description provided.

[DanielKusyDev]

Hi @rtlopez ,

Excellent work on altitude hold! I've analyzed your barometer implementation and would like to propose extending it with VL53L0X rangefinder support for precision low-altitude control (0-2m, +/-3mm accuracy). There is no particular reason for that exact sensor (VL53L0X), I just happen to have one.

• Barometer: Extended range (2m+) -> Already in your PR
• Rangefinder: Precision at low altitude (0-2m, +/- 3mm vs +/- 1m)
• Automatic sensor fusion with smooth transitions

Approach:

• Build on your existing altitude hold architecture
• Add rangefinder as alternative altitude source
• Keep your PID controller and mode logic unchanged
• HAL design for easy addition of more sensors (VL53L family).

Does that sound okay? If so, would you prefer I extend your PR or create a separate one that builds on yours?