Using range radar but the height still shaking up and down when stop

#1

hello
I met a problem about the height control.
when i make the quad x loiter in position mode,the height of the plane can not stop correct
itself,it may like the MPC_Z_P too big make the plane Over adjustment。
but the anaylise of the plot may see the local_potition_z have a delay about the distance.current_range
like this

should i change the value:


the log url:
https://logs.px4.io/plot_app?log=23228640-a8d4-442a-b4bd-19d2ce5aa6e4