Using VL53L5CX distance sensor in altitude mode

I’m attempting to use a VL53L5CX-SATEL distance sensor to give more accurate altitude readings for my quad copter.
The sensor is running via a raspberry pi and sending the distance measurements as mavlink messages via the serial port to the pixhawk. I can view the distance measurement in QGroundControl in the MavLink Inspector.


The issue is that the system does not appear to be using this distance measurment to help stabilise the altitude.

EKF2_RNG_AID is enabled and I have tried setting EKF2_HGT_MODE to prioritze the range sensor.
I have even disabled the barometer entirely in this case I get no altitude reading, despite the distance sensor still running.

Any pointers anyone can provide would be greatly appreciated, Thanks!


Did you resolve this VL53l1x sensor issue for altitude .