Hi all,
Had some success with Autolanding over the weekend but had more failures than successes.
I have some general questions that would appreciate help with regarding the setup of the waypoints.
We set up a series of waypoints starting at an altitude of 40m then dropping 10m per way point until we reached our last standard waypoint which was 130m downwind of the "Land" point.
The "Land" waypoint had an altitude of 0m but I notice that when you add in a "Land" point by right clicking on the Flight Plan screen it sets an altitude of 1m. What should the Land altitude be set to?
We set a Do_throttle_change point about 100m out from the landing point to slow the plane down to its desired landing speed (before initiating the autolanding) - is this necessry?
When I look though the datalogs, is there a parameter I can graph to see when AutoLanding was initiated?
Thanks for your help,
Gray
Replies
could you upload your mission and a log?
I've never heard of DO_THROTTLE_CHANGE, perhaps you mean DO_SET_SPEED? This is not recommended.
If you have a fast airplane with a significant margin between trim speed and min speed, you could use: TECS_LAND_ARSPD.
If you have no airspeed sensor you could try: TECS_LAND_THR to set the approach throttke target.
Your approach set up sounds very conservative.
You should use a land altitude of 0 unless you are landing at an elevation different than where the autopilot was initialized.
When you say you want to know when Autolanding was initiated, do you mean the flare, or the approach phase? I'm not sure if there is a particular data point to identify the flare in the logs, but you should see the pitch increase. I can certainly see it with my eyes.
Thanks or replying, yes, sorry, I did mean DO_SET_SPEED.
I will research TECS_LAND_ARSPD, thanks for the pointer.
We do have an airspeed sensor and also a laser range finder.
I'm trying to find when the flare was initiated, does anyone know if there is a parameter in the logs that displays what "phase" the drone is in? I'm looking for where (or if) the 'Is_Landing" is triggered in the code.