Hello,
I have configured a rangefinder and set SURFTRAK_MODE to None. EK3_RNG_USE_HGT is set to -1. I would expect it to not change altitude when I bring my hand underneath the rangefinder but it does. Anything else to be configured? Maybe the EKF weights?
Thanks
Hi @StrikeEagle,
Setting SURFTRAK_MODE to None should definitely disable surface tracking used in AltHold, Loiter, etc. If you have a log I’m happy to have a look.
The EKF should normally not be configured to use the rangefinder unless the vehicle is in an indoor environment with no surface clutter. I know you know this but for other people reading, it is a common mistake to adjust the EKF settings. If I can go on a little more, the thing is that the EKF is for estimation and it’s extremely odd to adjust the estimation of the altitude itself (which is an altitude above the origin) in order to cause the vehicle to climb or descend. The vehicle moving is a control feature.
Thanks! I thought I was using the barometer but had switched to rangefinder for testing and forgot to switch it back. If you hadn’t said this, I would not have checked!
Yes, now it does work as intended, but no wonder, altitude was so stable this whole time 
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