Drone does not stop at target altitude in guided mode take off

The drone goes past the take-off target altitude and does not stop
Here’s the log:
88 12-31-1969 7-00-00 PM.bin (304 KB)



As discussed, this was resolved by setting EKF origin while vehicle was on the ground. TBH, I’m unsure why the EKF origin was -160-ish meters but this plus the use of the lidar as the primary altitude source seems related to the problem.