Fused Altitude reading always 0 on Solo w/functional Lidar Lite

[a7scenario]

Issue details

Running Master from 26 May on a 3DR Solo w/Lidar Lite (blue label) and PX4Flow. When airborne, the the Altitude in Mission Planner and in DroneKit show 0 in the GCS HUD and in VFR_HUD messages. The RANGEFINDER messages show correct altitude (3-4 meters) and I've confirmed that both EK2_ALT_SOURCE=1 (use rangerfinder not baro) and EKF_ALT_SOURCE=1, however, the Solo is running EK2.

Version

Master from 26 May

Platform

[ ] All
[ ] AntennaTracker
[ X] Copter
[ ] Plane
[ ] Rover

Airframe type

3DR Solo

Hardware type

Pixhawk 2

Logs

[rmackay9]

I think I've heard this report somewhere else as well although it was in a different context. Perhaps the vehicle didn't have a GPS lock yet.. or to be more precise the EKF hadn't selected it's "origin" yet so there was not home location set (i.e. the vehicle wouldn't have shown up on the ground station map yet). In this case, it seems we're not updating the altitude sent to the GCS. Hopefully we can find a way to resolve this. Perhaps we will just need to send the baro altitude for the period before the home position is set.

[SimsGautam]

Hello -- bumping this issue, as I'm having a similar problem where the fused altitude reading is either 0 or incorrect (AHRS2 always reads zero, and AHRS3 is faulty). My teammate has written more extensively on the issue here: http://discuss.ardupilot.org/t/guided-mode-with-optical-flow-oscillating-in-altitude/9992

Thanks!