Altitude mode indoors aided by TFMini - the quad goes straight up

Flying PX4 on Pixhawk 1 quad indoors.
Using TFMini lidar as prime input to height estimator (to keep height stable over flat floor).
Relative altitude reading in Analyze looks perfect.
Flight in Stabilized is good.
When switching to Altitude or taking off in Altitude, the quad goes straight up disregarding the RC commands.
These are the parameters:
And the log:

Hoping for some wisdom from more experienced members of the community.

To me it seems the FC is not using your range sensor, as it does not show a setpoint in the Local Z position plot.
Double check the parameters:
EKF2_HGT_MODE = to range sensor
SENS_EN_sensname = enabled

Good luck :slight_smile: