EK3_ALT_SOURCE: Primary altitude sensor source
I use: EK3_ALT_SOURCE = 2
EK3_GPS_TYPE: GPS mode control
Note: This parameter is for advanced users
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
0 GPS 3D Vel and 2D Pos
1 GPS 2D vel and 2D pos
2 GPS 2D pos
3 No GPS
I use: EK3_GPS_TYPE = 1
(Don't know why, I certainly have tried setting 0, but probably with bad results)
I am wondering what bad result did you face it? I confuse this part. You are using the 2d vel and 2d pos but altitude source is GPS.
My short knowledge, it is hard to understand about this parameter source. I will try to 2D vel 2d pos.
Also did you try to use RTL mode? When I use the RTL mode it goes up even if I checked that the altitude parameter gives 0(I am relative distance setting ).