Hello guys
I’m trying to perform short low alt mission based on Lidar sensor as alt sensor ,
when I’m flying in pos hold i can see the the drone moving above obstacles like it should with the lidar ,
but on a mission its not working ,
is there option to determine when the drone using baro and when it use lidar on qgc ?
thanx in advanced 
Hi, it’s currently not possible to define the altitude of the mission relative to the ground. The mission items are relative to the altitude of the takeoff point so each waypoint has an absolute altitude. It shouldn’t be too difficult to add this but you might need to do some changes in QGC and PX4.