opened 07:26AM - 30 Nov 24 UTC
bug-report
### Describe the bug
We are using an ARK Pi6xFlow without GPS and are trying …to reliable takeoff to 2 meters.
We use both EKF2_BARO_CTRL as EKF2_RNG_CTRL and the HGT_REF is set to barometric.
When taking off, sometimes it goes to 2m, but most of the time to somewhere between 3 and 5.
Using 1.16.0 alpha, the height was around 1m
### To Reproduce
1. Drone switched on
2. Armed
3. Takeoff to 2m command issued
4. Measure physical distance as soon as the height seem stable)
### Expected behavior
Go to the correct height (more or less since exact would be impossible off course)
### Screenshot / Media
_No response_
### Flight Log
barometric hgt ref (result 3.2m): https://review.px4.io/plot_app?log=514ae575-9d2e-4687-ab55-6e8836979b02
Range hgt ref (result 2m) https://review.px4.io/plot_app?log=b3753550-44ac-439a-905b-933f7a3932c3
Using 1.16.0 alpha : https://review.px4.io/plot_app?log=8122ff4b-e309-41f5-9257-55d74abbdb5d
### Software Version
release 1.15.0 stable
One test with 1.16.0 alpha
### Flight controller
ARK Pi6xFlow board (Dexi Airframe from DroneBlocks)
### Vehicle type
Multicopter
### How are the different components wired up (including port information)
ARK board to ESC to Motors.
Pi CM4 on ark-board, using MicroUXCREAgent to transform UORB to ROS2 topics.
RC and a LED ring are connected to the ARK board as well
### Additional context
After takeoff, the height should remain stable, regardless of what the terrain is doing.
That's why we want to use barometric height reference, since a distance sensor will cause problems.
We're also adding VIO using markers, but don't believe that this would be more reliable then a barometer
