Anton Sysoev

Don't use a cable for programming with ArduinoIDE because it has DTR signal which resets MPU before programming. You need other cable which has just 3 wire (rx,tx,gnd)

At this time terrain following doesn't work in "Acceleration based" position mode. I have investigated the code and found a bug. ``` void FlightTaskManualAltitudeSmoothVel::_setOutputState() { _jerk_setpoint(2) = _smoothing.getCurrentJerk(); _acceleration_setpoint(2) =...

No, when terrain following is active `_terrain_hold` is false. This flag is true only when a vehicle stops. You can see it in the code below ``` void FlightTaskManualAltitude::_updateAltitudeLock() {...

I have fixed this on my local copy of PX4 as I have mentioned above and it works

PX4 v1.16.0alpha2, last commit 8d296a50f9. To reproduce set MPC_POS_MODE=Acceleration based, MPC_ALT_MODE=Terrain Following, EKF2_RNG_CNTRL=Enabled, make px4_sitl gz_x500_lidar_down, add to world [this model](https://drive.google.com/file/d/1MUDgE6u8mr5LAxJ7XdZqcpv3GjpmaInH/view?usp=sharing). Expected behavior = the drone goes up in position...