I have a Crazyflie 2.1 flashed with febc780 (CLEAN) and equipped with a flow deck v2 and I am using the crazyflie-lib-python to send high-level commands (goto). I am facing the following issue.

I would like to stabilize the drone height with the only help of IMU, barometer, and optic flow, and no z-ranger. However, I would like to access the z-ranger measurements to know if there is any obstacle on the ground. Right now, I observe that whenever the drone detects an obstacle beneath itself it overshoots in position believing that its height from the ground has changed. However, it is not the case: the ground level is unchanged, but there is an obstacle. How could I change this behavior? If the stabilization in z without the z-ranger is unfeasible, how would you solve this problem?

Regards,
Enrica