Vertical precision

Hello, i am testing my quad and trying to have it flying at about 1m/sec at a set altitude of 10 meters above ground. I am using a lidar and have enabled terrain follow on MP when i made the mission.

What parameters are important and should i tune to make the aircraft as precise as possible in altitude?

I played with Alitude Hold on the extended config panel, was just wondering if there is something more in depth.



get a RTK GPS and/or a downwards facing lidar/sonar

I already have a lidar (lightware SF20) and using terrain follow, was just wondering what parameters to tune to try to have the most precise altitude possible.