I already have those settings in place.
The problem is the damn barometer keeps being used instead of the Lidar. The lidar is almost completely ignored.
Here are some of my settings:
and rangefinder parameters
RNGFND_GAIN,2 << this value should give range finder a lot of weight, in the alt calculation.
What I want to do is completely turn of the barometer or give it a very very very low weighting in the altitude calculation, for example 0.0000001.