Thanks for the suggestion! I 've refactored AP_RangeFinder_Fake as AP_FixedRange. Haven’t had time to test this more on the actual robot, still needs calibration.
It looks like we’ll need to hardcode calibration parameters and build the px4flow sensor firmware to make sure the parameters are persistent: https://github.com/NVIDIA-Jetson/redtail/wiki/3DR-Iris-Setup#px4flow
I’ll let you know how the experiments go.