Best practice LIDAR rangefinder question:

ArduCopter Copter 4.0
1

Using SF11/C , I usually tell the down looking LIDAR it’s offsets from the Cube,
RNGFND1_POS_Y,0.18
RNGFND1_POS_Z,0.17
And it’s elevation above the ground at that position (due to landing gear height)
RNGFND1_GNDCLEAR,48
This means the copter, when landed, sees a altitude of 48cm.

Is this the best way? , what if I configured a offset rigt in the SF11/C , som that it reported 0cm distance to ground when landed, and had _GNDCLEAR=0?
At least, it would give the copter a little less precise absolute precision, is there an upside of doing this one way or another ?

2

Hi @Andre-K,
Mohit here from LightWare, in terms of best way, I cannot tell you. however if it needs a startup condition for the ground reading to be zero, then I would suggest setting the offset in terminal.
I can assist you with setting up the offset to get the unit to see zero in its current position.

3

Thank you, I have no problem configuring it in that way if I wish to, my question was purely about the autopilot and related to the way EKF may try to fit/use the data.