AWR1443BOOST: There will be some drift problems when expanding detection range in 1443_3d.cfg file.

Hi, 

I'm using AWR1443BOOST and following the [TI mmWave ROS Driver Setup Guide](http://dev.ti.com/tirex/content/mmwave_training_1_6_1/labs/lab0006-ros-driver/lab0006_ros_driver_pjt/TI_mmWave_ROS_Driver_Setup_Guide.pdf). I'm trying to get the 3D point cloud of the targets and do some further applications. The firmware version I am using is version 1.2.

When I use the default configuration, the measurement seems reasonable. In the [video](https://youtu.be/rnOAQkGOpuI), we use three sensors(32-bin Lidar, AWR1443BOOST, stereo camera) to capture data. The yellow points are the measurement from AWR1443BOOST and the other points are the measurement from 32-bin Lidar. We can see that the point cloud will follow the truck.

Following is the default configuration:

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 1 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart

However, when I modify the slope(from 70 to 30) in 1443_3d.cfg to expand the detection range of AWR1443BOOST, we can found that there is a obvious drift in the car's point cloud. [video](https://www.youtube.com/watch?v=_J4I6pjty3s&feature=youtu.be)

Following is the modified configuration(modify the slope from 70 to 30):

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 7 7 57.14 0 0 30 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 1 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart

Is there anyone know the reason or how can I solve the problem?

Thank you in advanced.