I am building an indoor drone with using rangefinder and optical flow without gps. I can see sensor otuputs of optical flow and rangefinder. Also I set the EKF2_HGT_MODE RANGE to range.
px board: pixhawk 4
rangefinder: tf luna
optical flow: thonefow
when drone starts in manual mode and after increase height (if status bigger than 1-1.5 m) I can change the mode to position or altitude. But when drone starts with position or altitude mode when I give setpoint, the motors are getting too much thrust suddenly and I’m losing control. also I am facing this issue when I change mode to position or altitude when drone is not enough height.
How to fix it this issue this issue?