Correct settings of rangefinder for HERE FLOW

HereFlow
1

I am trying to tune my octocopter to fly with lidar rangefinder (Benewake TF03 or Lightware SF30/d) and Here Flow. As I understand HERE FLOW needs rangefinder to work?

But as I see from my tests even when Baro is main alt source (EK2_ALT_SOURCE: 0) rangefinder is messing the ALT HOLD and there is always some Terrain Follow when range finder is on. Rangefinder readings disturbing the ALT HOLD and altitude of flight is changing when the copter is over the bushes, trees or reeds.

So my question is how the rangefinder should be set to have good Here FLOW measurements and stabile FLOW HOLD and LOITER indoors without GPS?

If I set the rangefinder to measure maximum up to 2 meters the Here Flow will also only work up to 2 meters altitude ?

2

Have you had a read through here?

https://ardupilot.org/copter/docs/common-rangefinder-landingpage.html

3

yes

4

So @philip

  1. Does the Here Flow needs rangefinder to work in loiter mode ?
  2. If the rangefinder is set to work up to 2 meters (RNGFND1_MAX_CM:200) the Here Flow will also only work up to 2 meters altitude ?