I would like to upgrade my Solo so it can perform a grid survey from a specific distance of 2-3 meters from the ground. I have successfully installed a laser altimeter on the Solo, however it can not be used to control the flight path with the current firmware. I know that Arducopter-2.4 has the ability to do terrain hugging/following modes, so would like to upgrade the Solo to run Arducopter-2.4. From what I have read this requires the pixhawk 2.1, which I see is now available. Will upgrading the Solo with a pixhawk 2.1 and arducopter 2.4 allow me to run grid surveys using terrain hugging at specific distances from the ground? Is this relatively straight forward to do? Will it still work in the 3DR tower app or Mission Planner? Thank you!