Do you fly in foggy or dusty places? I ask, because I’m going to fly in these places and I won’t be able to use the lidar as an altitude reference.
Sorry, I cannot comment on that as I didn’t try before flying in this condition. But mine understand is sensitive to the brightness of the environment.
Example, https://lightwarelidar.com/collections/frontpage/products/lw20-c-100-m
You can give it a try, without flying, how the sensor report under the dusty condition. Using a Sik Radio telemetry and mission planner status view to check the height reporting. By the way, your propeller down wash, eh, may be bad for the motors? IPxx motors?