I am trying to use a ultrasonic distance sensor srf-02 for the takeoff and landing.
Using EKF2_RNG_CTRL parameter set to 1 for conditional mode. And other parameters has been set accordingly to the sensor datasheet such as EKF2_RNG_A_HMAX set to lower than sensor’s max range and etc. But when testing it the landing speed never got to the MPC_LAND_CRWL. I have set the MPC_LAND_ALT3 lower than EKF2_RNG_A_MAX. In the simulation with iris model with lidar same parameters worked ok.
Here is the logs from flight tests I did.
https://review.px4.io/plot_app?log=7d47b5a2-dad0-4081-a147-0fe7df40940a
https://review.px4.io/plot_app?log=73a2dc93-8d5d-4ec0-ad62-47629a1e2df2
https://review.px4.io/plot_app?log=2ce4449b-46e4-4dcc-98ea-9f355aac36a1
https://review.px4.io/plot_app?log=7434b286-3f40-4d26-b7a1-1fbadc7681f6