SF20A Height measurement sudden jumps!

[OXINARF (Francisco Ferreira)]

Hi Margus,

@Margus_A

Is it possible to turn of rangefinder on other alt. hold modes.

Look at my answer in another topic:

SF11 Lidar use to -1

Ah sorry, as you referred to EKF I forgot about that part. There are different settings, the EKF one just prevents the EKF to use it as a height reference, but it doesn’t disable Copter to use it for surface tracking or landing - to do that you need to use an aux switch (in low position) set to the rangefinder option: http://ardupilot.org/copter/docs/channel-7-and-8-options.html (it’s called sonar in this page).

@Margus_A

The log shows on the start Stabilize but it actually is in loiter.

If the log says Stabilize, it was in Stabilize.

Regarding those big jumps in the end, it looks like you are out of range. Have you configured your rangefinder with the proper max range?