Delay in Terrain Following using Rangefinder in Loiter Mode

[Roshan_Kumar]

Hi everyone,

I am trying to do precision terrain following using TF03 rangefinder (in downward direction) in loiter mode.

The copter is able to gain height when rangefinder saw some obstacle but what I observe is that it changes height after some delay and also on increasing speed the gain in height is also low.

Is there a way to do precision terrain following without delay, just using rangefinder in loiter mode

[amilcarlucas]

What you want to achieve is hard to do due to sensor noise and copter inertia. How heavy is your copter? do the motors have enough power to achieve the accelerations you want? Are the PIDs tuned properly according to the wiki? how noisy is your range finder? can you get a better, more expensive one?