The barometer is not always giving the correct altitude so the drone is moving up or down in any instance. So, can I use the camera port to connect the ultrasonic sensor If then can you share a code that uses the ultrasonic sensor to hold its altitude and I think you could make that as firmware for pluto 1.2 and pluto x? The drone could use the ultrasonic sensor and calibrate the barometer. I think an altitude hold will be necessary to program the drone to move in the correct direction. If you think the ultrasonic sensor is heavy we could use a VL53L0XV2 TOF Based LIDAR Laser Distance Sensor.
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