I have a few drones which use a lidar for informational purposes (the lidar data is sent to a companion computer). I do not want the drone to use the lidar for altitude control, however it continues to use it in all altitude-controlled flight modes even after I turn off all relevant parameters:
EK2_ALT_SOURCE = 0
EK2_RNG_USE_HGT = -1
TERRAIN_ENABLE = 0
TERRAIN_FOLLOW = 0
WPNAV_RFND_USE = 0
Is this intended behavior? Can it be turned off without disabling the lidar? Is this still the case in Copter 3.5?
I want to turn it off because noisy lidar readings from flying over certain terrains cause the drones to bounce around in altitude: