Unintentional altitude climb

I have an unintentional altitude climb and am posting for advice.

The flight is shown in the log below and occurred at about 3:12 in flight time.


In Hold flight mode, the Z position controller’s setpoint is constant, but the altitude increases.

The Z velocity controller continues to command climb even though the position controller’s setpoint has been exceeded.

It does not appear that there was an error in the Z-position estimation due to vibration or something, but rather that there is vibration, but it is not severe and the Z-position estimation tends to match the actual value.

Any advice on this would be greatly appreciated.

After carefully reviewing the logs, I concluded that it was likely due to the downward lidar.

I will re-fly it after fixing that issue and post the results.