RTH erratic landing, fly away

Hi there.

A customer of our is having an issue upon automatic landing (RTH).
While the aircraft is landing, the aircraft stopped and began climbing/flying away. Switching to LOITER or ALT allowed the pilot to land safely.

The drone is setup as follows:

Pixhawk 2.1 cube
Lidarlite v3 via I2C

I have attached three .tlog files where this issue occurred. I noticed the Terrain Alt varaince which is concerning. I suspect an issue with the LIDAR.


Can any of the Pixhawk gurus help me with diagnosing?

Thanks guys!!!

Send bins from the flight controller…