It sounds like you (and some answers to your post) are confused.
If you are seeing negative numbers for altitude, that is not at all related to the downward facing sensors because they will never show a negative height.
Negative altitude will be coming from the barometer, (the primary altitude sensor) and it will be because your drone is lower than it's launch point.
Your drone has two different ways of measuring height/altitude.
In this screenshot you see H (height) = 0
That is the barometer which is set to zero at the start of the flight. It will display the height above or below the home point.
You also see VPS = 0.1
The Vertical Position System sensors look down and show how high the drone is above the ground below it.
They only work to a max of 10 metres. Higher than that, this disappears from the screen.
Here's an example of negative height when the drone is flown down into a valley.
VPS has gone since the drone is still higher than 10 metres from the ground/trees.