Hello, please help on how to use the rangefinder lidar as primary altimeter of the flight controller during auto mission mode.
I am using Tofsense F lidar and set for obstacle avoidance. As of now the test for loiter/position mode is working fine, like for example when drone is at loiter/position mode and hovering hold to 1 position with 6m altitude, when detected low altitude(place object at the bottom) it will automatically going up.
But in auto mission mode with 6m waypoints altitude, obstacle avoidance during the automission is not working. I want to try to set the rangefinder as primary altimeter hoping to fix this issue but I dont know how to set. Rangefinder Lidar is set down
Below are the parameters set at my Pixhawk 6c with ardupilot firmware V4.5.2
Using mission planner/my drone is quadcopter with XL9 frame
Avoid_Alt_Min = 6m
Avoid_dist_max = 6m
Avoid_behave = 0
AHRS_EKF_Type = 3 (set to EK3)
EK3_enable = 1
EK3_RNG_USE_HGT = -1 (please advise on how to set Rangefinder to be use as primary height source)
EK3_RNG_USE_HGT = -1 (please also advise how to use this)