@rmackay9
Thanks, works! I moved all to RNGFND1_xx, do not enable the Hereflow onboard lidar. Rangefinder preArm check enabled and no warning. took off both outdoor and indoor Loiter mode is within expected behaviour and without an external GPS installed.
thank you for the guidance and patience.
Could it be that no Range finder in 1 caused the bouncing flight I had with the super flat indoor surface with SURFTRAK_MODE=1, just curious? I may have to plan time to do a repeat test.
I have concluded that it is not due to skipping of RNGFND1, SURFTRAK_MODE=1 on our super flat blue surface not tracking well.