Betaflight and compass behaviors

[zimo79]

Hi there,
I have a doubt that has haunted me for years, how do Betaflight use Compass or Barometer?
to clarify, my question is: in which way BF manage Compass and Baro data, if I should install them?
'til today, when I've to build a multicopter that should have some kind of "stable" flight mode, I use Inav or Arducopter, but I like very much the latest release of BF (PIDs and Rates in particurarly) and I'm thinking to flash BF4.2 or 4.3 in my 7 inch quad (INAV 3 installed at the moment) to enable some kind "advanced" angle mode to improve stability using compass and barometer, but checking in the configurator, I can't fing some kind of Position hold or alt hold, I can only enable it but I don't know how and if FC can use it.
a virtual beer to who help me to solve this dubt!
Thanks

[swilkens]

At the moment, these features are either not there or not in an advanced state of development.

Alt hold is being worked on, some discussion involving compass is also ongoing.

If you want / need these features, iNav is probably the better option at the moment.

[zimo79]

Thanks for your reply,
But in this case, I continue to don't understand why is possible use them consuming cpu% if for BF don't consider compass or baro value to improve the flight

[SteveCEvans]

The baro value is very useful to display in the OSD, or providing a spoken alert via telemetry to help keep below 400ft/120m for safety. It doesn’t need to drive automatic behaviour to be useful.

[zimo79]

Thanks to clarify that!

[predatorhjl]

I want to ask a simple question. In the code of BF, I can find the driver code of compass and baro. In OSD display, the alt based on the baro seem to be displayed correctly. At the moment, the BF can read and display the data of compass and baro, but the data cannot be used for flight control?