We have a 4" drone with Matek F405 miniTe, ardu 4.2 version and Matek optical flow & benewake tf mini rangefinder.
The drone flies perfectly, althold perfect, loiter indoors perfect but there is a feature that can be a problem.
when the rangefinder see an obstacle, the drone ascends. these feature its very strange in comparation with similar comercial drones with downfaced rangefinders.
when you flies indoor and you can move the drone in very closed spaces, these “jumping” feature makes more dificult the flight, being very carefully with the throttle control to down the drone when sees and objetc.
there is any way to disable this “jumping” feature of rangefinder?
@PVR2022 that’s what surface tracking does… it uses the rangefinder to maintain a constant height above ground
If you disable surface tracking, then altitude will be maintained by EKF’s altitude… i.e the combination of barometer, IMU etc…