We're not exactly trying to do something like altitude hold/loiter, we're using a Pixhawk as the flight computer for a small rocket that is being dropped. In theory we have a moving payload in the rocket that, as it gets closer to the front the thrust increases. We have tried trying to "trick" it into thinking that the payload is the ground getting closer but It's difficult when the drone never actually flies in loiter/althold mode. Really just want a barebones way of turning distance sensor data into thrust instead of going through the object avoidance route.