How to accomplish accuate height control?

[yesterday2]

Hello, we reproduced the dynamic system identification experiment and did a height identification, but we did not find where the height parameter is written, only the roll、pitch、yawrate parameters fill in

mav_dji_ros_interface/dji_interface/cfg/raven/disturbance_observer_rpyrate_thrust.yaml.

I notice the parameter thrust_constant: 1.2 in mav_dji_ros_interface/dji_interface/cfg/raven/dji_interface_params.yaml , but it does not used in cpp file。

Therefore, using the default height parameters in github files, the aircraft can take off normally,but in the step experiment, when setting x=1m or setting x=2m, the aircraft did not actually hover at the position of x=1m and x=2m in real world, it was only about 50cm, or 60cm.
I guess it may be caused by the inconsistency between the weight of our aircraft and the installation structure. Which parameters can I modify to accomplish the accuate height control?

[shaochengluo]

Which roslaunch file did you run to realize take off?