RangeFinder For better Land

ArduCopter Copter 4.3
1

Hello, everyone
I want to use TF02-Pro for better land. My version is 4.3.0.

I’ve learned wiki and code, in my opinion, I should set param as follow:

  1. keep all EK3_SCx_PosZ = 3-GPS
  2. set RNGFND1_MAX_CM = 400
  3. set EK3_RNG_USE_HGT = 50

Then, when rangefinder alt<2m, it uses rangefinder. and when rangefinder>2m , it uses GPS.

2

But actually, my copter will use rangefinder to raise to 4 meter, which is same as RNGFND1_MAX_CM.
This is very strange，looks like EK3_RNG_USE_HGT doesn’t work, use 100%.

3

Here is my flight log.

Here is my param.

4

This is my basis,
below 4m, it use desire rangefinder alt, it’s a horizontal line.
and above 4m, use desire alt.

Now I can only distinguish althold source through who is horizontal. Or there could be a better way?

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image1705×987 11.7 KB

5

-1 to 70 percent of (400) only

Consider change EK3_RNG_USE_SPD