Oscillation in Altitude with Lidar

ArduCopter Copter 4.3
1

Hi all,

Drone Configuration:
32" Propellers
Cube Orange Autopilot
Here3+ GPS
Herelink Controller
Lightware SF30/D

The drone earlier was stable, but to get more accurate Altitude hold, we added bottom facing Lidar and changed EK3_SRC1_POSZ from 1 to 2.

But now, the desired altitude is also changing while Throttle Input is constant. The oscillations were clearly visible (see below attached image)

altitude oscillations image
altitude oscillations image1213×668 13 KB

Link for Log File

Thanks,
Yashika

2

Any reason why you changed the EK3 source? You should leave that as 1 and let Ardupilot handle the rangefinder as described in the wiki