The invention relates to an asphalt milling machine control for an asphalt milling machine of the type which mills an asphalt pavement surface over which the machine travels and a method. The control includes a floating plate or a pair of floating plates. The floating plates have associated sensors and are vertically movable with respect to the machine body and the rotatable milling drum. The control includes a GNSS receiver on the machine body for determining the two dimensional coordinates of the floating plate or plates. The control includes a memory which stores a map of the unmilled asphalt pavement surface, and data defining a desired design surface. The control includes a sensor for detecting the relative vertical position of the floating plate with respect to the machine body and an inclinometer. Finally, the control includes a processor, responsive to the GNSS receiver, the inclinometer, and the sensors. Cross checking of various measurements may be made to determine error conditions.