Set Attitude Estimation Algorithm
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Set the flight mode
Go into Input page > Flight Mode Switch Settings and affect PositionHold to one flight mode position.
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When engaged, PositionHold hold current vehicle position using GPS sensor and without stick interaction.
Altitude can be maintained if one VtolPathFollower parameter is set:
Go into UAVOBrowser and find Settings > VtolPathFollower > Thust set to Auto
Save settings with 
button.
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