POSHOLD Mode not working

[atmaca11]

Hi, we are trying to use th esp-drone in position mode. when we try to use altitude mode, the stability is pretty decent. but when we change the mode to position, the drone rolls over or crashes. We added a log to check the measured Z through TOF module, most of the time it goes back to -0.0 after measuring correctly for a while. What could be the issue here? any help would be appreciated.
We are using CJMCU 3901 PMW3901 module and TOF400C VL53L1x module.

I (305) cpu_start: App version: 4a56e1c-dirty
I (310) cpu_start: Compile time: Oct 30 2024 15:50:58
I (316) cpu_start: ELF file SHA256: 9b3144364cb5055a...
I (322) cpu_start: ESP-IDF: v4.4.8-1-ga9d0f22193
I (328) cpu_start: Min chip rev: v0.0
I (333) cpu_start: Max chip rev: v1.99
I (338) cpu_start: Chip rev: v0.0

[Bodata]

Hi,

I am not able to help you, but i posted an issue earlier.
From your question i understand you have added PWM en TOF modules to the drone.

Could you tell me is this an extention you build yourself or is there a solution on the market to buy ?

:-)