I've just gotten a sonar for my quadcopter and the first RTL landings where smooth with slow descent (almost too slow) but the last to landings have been with rapide descent (todays landing even broke a landing gear). How can I see in the log if the sonar worked? And can I control the descent rate somehow?
Arducopter (3Dr Qcopter) with latest firmware. RTL mode with landing.
How well does it hold height in Alt Hold mode?
Both Sonar and Baro height are stored in the Onboard Datalogs. Instructions for downloading and displaying data are HERE You want the CTUN data and Sonar / Baro are in the first few columns.
The Sonar and Baro heights should track fairly well, although Sonar will limit to about 6.5m depending on which one you have. On mine, Baro seems to drift around, possibly from air currents as it flies.
Can't help with the descent rate.