Cheerson OF sensor & Lidar VL53L0X

ArduCopter Copter 3.6
1

Cheerson OF sensor and Lidar sensor VL53L0X work very nice, esp. indoor Loiter is amazing stable, but i’ve two issues:

  1. Mission planner shows “bad lidar health” almost all the time, although the lidar works pretty accurate.

Has anyone an idea ?

Here’s a log:
https://drive.google.com/open?id=1CNV_3FxiynZl8w1xkB0BqobyPz2NieKM

  1. I can’t arm in Loiter, although i set EK2_GPS_Check = 0 and EK2_GPS_Type=3
    a “Prearm high hdop” error is thrown.
    I can arm in Althold, lift off and then i can switch to Loiter.