Kakute H7 with Lidar-lite v3 cannot get right altitude

I cannot get right altitude when I use Kakute H7 with Lidar-lite v3(I2C).
Firmware is V4.3.0:https://firmware.ardupilot.org/Copter/latest/KakuteH7/arducopter.apj
Using EKF3 rangefinder as the primary source of P_Z,but the altitude data drifted too far.

Hi Zhang,

Have you finally got it to work? I’m using the similar setup of Kakute H7 and rangefinder.