LiDAR based altitude sensors - Looking for further information and experiences

[janis_blank]

Hello,

and sorry, these are a lot of questions in one thread, but it's hard to get an answer to them.
I'm not too happy with the imprecise altitude measurements of my Pixhawk internal altimeter and therefore planning on mounting a laser range finder below my drone. However, there are a lot of questions I cannot find an answer to (Note that my drone does automated flights in guided mode only).

1. If I fly over a building of, say, 10 metres height, will the drone suddenly shoot up for 10 metres? If yes, is there a way to deal with this?
2. What if I move out of the range of my module? Will the barometer take over and maybe cause sharp drops or rises, since it has different values?
3. When the drone tilts for moving, the range finder will be unable to measure anything useful. Will the barometer take over again here?
4. Are there surfaces that pose a problem, for example, can grass scatter the laser.
5. Can different lighting conditions strongly decrease precision? The TeraRanger Evo 60m for example measures up to 60m but can decrease to as little as 10m when e.g. hovering over grass in bright sunlight (see https://terabee.b-cdn.net/wp-content/uploads/2021/02/Specification-Sheet-Evo-60m.pdf). Note that this module uses infrared instead of laser light, but do laser modules exhibit a similar behavior?

My configuration:

• F450 Frame
• Pixhawk 2.4.8
• 3S battery.

Thanks and best regards.