EKF predicts incorrect altitude while using range finder

I am using rangefinder for height estimation for a warehouse project. I have disabled GPS, and using LIDAR for estimating height. However there is a constant difference of 20cm between my lidar output height and EKF estimate. My lidar is reading right readings. Any idea how I can debug the issue.
Attaching screenshot of the log here.

Are you using ArduCopter 4.2.1 and EKF3? you should.

I am using 4.2.2 and EKF3. Same problem

I corrected the post header then. Please post a .bin file and steps to reproduce the problem.

Same here. Indoor flying without GPS and using rangefinder for high estimation. EKF estimate always lower than lidar output.


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