Altitude hold explodes with EKF2_RNG_AID set to range sensor aid

🧪 Flight Testing & Log Analysis
1
  • Drone type: QUAD
  • FC: Pixhawk 1
  • Build: px4fmu-v2_default 1.8.0 stable build with make
  • Sensor Hardware:
    • px4flow for xy estimation
    • Sonar: pwm input range sensor
  • Flying environment: Indoor with flat floor.

Altitude hold was perfectly normal with barometer setup.

althold_baro.png834×333 23.2 KB

Log is here Flight Review

When EKF2_RNG_AID is enabled, my drone never stabilized for altitude hold and at some point, it shoots to the roof.

althold_rangesensor.png834×333 20.1 KB

while range sensor data gives good estimation.
range_data.png834×333 27.3 KB

Log is here Flight Review

Whether terrain following mode is on or off, results are pretty much same.

What part should I have to look at?
Any thought and advise would be much appreciated.
Thanks,

Kyu