Heres how I have my defines:
#define USE_AUTO_LAUNCH 1 This is pretty obvious what it does
#define TAKE_OFF_ALT 39 this will make me take off to an altitude of 128' roughly, now should this be the altitude of the first way point or should I have it set below the first way point so it hits this alt and then continues to way point 1 gaining the rest of altitude? Whats the correct way to do this part here.
#define TAKE_OFF_PITCH 15 this will be the pitch to hold for take off
#define USE_AUTO_LAND 1 Obvious again turns it on
#define LAND_PITCH 15 this will hold the nose 15 deg. up while in the landing pattern correct?
#define AIRSPEED_SLOW 5 this is the airspeed that the plane will travel at when it hits slow_radius?
#define THROTTLE_SLOW 20 this is the speed that produces the 5m/s airspeed above?
#define SLOW_RADIUS 30 this would be set to 30 if my way point I want it to hit to start slowing and begin the landing way point path?
#define THROTTLE_CUT_RADIUS 40 this would be to 40 if my way point i want to hit to cut the throttle and should be 1 way point further than were I set an alt of 0 on my way point file ?
Hopefully I grasped the above correctly the slow_radius and throttle_cut_radius terms kinda throw me
Now for the way point file .
if way point 30 is where I want it to start slowing and beginning its landing path, I then should alter the altitude offset variable to lower my altitude gradually from way points 30 - 39 and 39 being my 0 or landing spot and way point 40 should be just past way point 39 and it cuts throttle at 40 so that if 39 isnt reached it enters RTL ? Is it correct that the altitude offset is the variable to change gradually? I am not sure thats the right one because when i put 0 for my way point 39 it says home alt next to it is -1.039 so thats below ground correct?
Any examples and or explanations are greatly appreciated, sorry if this is obvious just not clicking for me today. Or if there is something more detailed posted already that I did not find please feel free to point me to it. I think the way point file is the part I am most not clicking with.
Thanks for your time.
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Replies
LAND_PITCH is turned on only at the last second before reaching the WP
AIRSPEED_SLOW only if you use a sensor, your throttle slow should be calibrated to deliver this airspeed.
SLOW_RADIUS closer than this radius slows the engine
THROTTLE_CUT_RADIUS closer than this radius kills the engine
offset_altitude - don't edit this. it generates a slope for your glide path. Set your landing wp to 0 altitude.
Hope this helps,
Jason