I have a 1600mm Hexarotor for crop spraying and i recently configured it with a downward facing LiDAR TF-02 for terrain following while spraying at 2-3m altitude.
I am using a Pixhawk Cube Black with ArduCopter 4.0.0. The TF-02 is connected to Telemetry 1 Port.
The sensor worked perfectly in first test flight where i bring a car under the drone to see the terrain following. Here is a log: https://drive.google.com/open?id=1Acge8sVNgQKItG1rRVvkeuAr5QaAdT7e
I took the drone to a field and as soon as i took off in Loiter mode, the drone shoots to sky. It reached 100m despite Geo-fence set at 20m altitude, and the ascend speed was much higher than what i have set using SPEED_UP parameter. I tried to switch to LAND & RTL to no avail. It eventually came down very fast and did a really hard landing but i dont know how.
Here is the log: https://drive.google.com/open?id=1C1XAmc4x_S3ktaOFDL2TfwkaGzX6_Ik_
I have tried to plot the Rangefinder data vs Barometer and CTUN.Alt and it is not making any sense to me. Please help me figure out what exactly happened, and how can i make it safe to fly for the next test.