Hi all,
Just to be sure about RNGFNDx_MIN_CM if I set a downward Lidar and I fly in AltHold with RNGFNDx_MIN_CM value set to 20cm the autopilot will use my Lidar only if the distance is greater than 20cm otherwise he will use the barometer (for values min to 20cm) am’I right ?
no, set the maximum range will set the highest distance the rangefinder will be used up to. minimum range is for the shortest range it will work down to, then ground range is for setting how far above the ground the rangefinder sits so it knows where the ground is relative to the bottom of the vehicle.