Barometer has more weight than LidarLite, to calculate altitude

@sunama wrote:

Hi

I am using the PixHawk 2.1, v3.5.x
I am using a LidarLite v3.
AC v3.5.3

The Lidar is working correctly and measuring distance correctly.
The problem is that the copter is not holding altitude correctly. It is still using the barometer, even though I want the lidar to be used for altitude measurements.

Check this video I made today:

I believe the firmware is attempting to mix the barometer measurement with the rangefinder. The problem is that the barometer is a terrible way to measure altitude and I want to shut it down, if possible.

How can I make the rangefinder's altitude measurement have more weight than the barometer?

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