TAKE OFF ERROR when only using Fast-LIO Odometry

[nvhungv2k]

Hi everyone, I am trying to test kr_autonomous_flight with only lidar odometry (particularly fast-LIO) in gazebo simulation (default environment is forest0) I tested and compared the result with truth odometry getting from gazebo directly. it is quitly good. Pls view this video But when using Fast-LIO odometry for mapping and planning, the error comes from the step of TAKEOF as soon as. The Quadrotor falled freely and then tried to take off. Finally final altitude is not good. Pls view this video Any ideas. Pls support me. Thanks!