@MagicRuB Thanks for your advice! We have tried 3.8beta, there is a problem that my plane didnt use rangefinder during landing process, and we have not resolved now.
Here I have posted the log.
http://discuss.ardupilot.org/t/bad-lidar-health-even-if-rngfnd-landind-1-in-arduplane-firmware-3-8-0/16949
I have checked all parameters related to rangefinder, but have not resolved it.
@FireFly we’re concerned about the rangefinder issue you’ve brought up. Would you mind creating a new discuss issue so we can track it there instead of cluttering this issue? Meanwhile, we’re pretty confident this altitude problem is fixed in v3.8