Good Day @samucs,
We haven’t heard of any issues with IR-LOCK Precision Landing with ChibiOS. However, it is probably a good idea to follow @rmackay9 advice and see what happens when you try a previous firmware (NuttX).
Typically, PLND_EST_TYPE = 0 is the most robust/stable setting. However, you could give PLND_EST_TYPE = 1 (EKF estimator) a try.
I didn’t see anything strange in your logs (except for the obviously abnormal controls behavior). Your IR-LOCK sensor is detecting the MarkOne beacon. And your rangefinder is providing altitude readings. See log image below.
