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.


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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!

Hi,

Did you resolve this VL53l1x sensor issue for altitude .