We are working with Pixhawk Cube Black and PX4-Autopilot v1.11.3. We are doing indoor flight tests with distance(Lidar-Lite v3) and optical flow(HereFlow) sensors. Our drone had crashed multiple times.
In tests, lidar and barometer measurements are accurate but EKF2 outputs such as vehicle_local_position/z value are miscalculated. In this specific log file EKF2_HGT_MODE is set to barometric pressure and EKF2_RNG_AID is set to enabled. We tried other combinations of various parameters of EKF2 and failed. We can not find the source of error. Any help is appreciated, thank you.