Using SF02 Laser for auto landing - altitude sensing

Hi All,

Not sure if this is the right place to post.

We are testing the SF02 laser for auto landing and have it working and communicating and are now trying to implement into Arduplane code.

It looks like the altitude is updated through update_alt, but it is only looking at the barometer. Does anyone know if and where the code checks the GPS Altitude? I seem to remember a couple of lines that say;

If the GPS is valid and it has a good fix, use GPS altitude. If not, use baro altitude.

Anyone?

Thanks.

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Replies

  • 100KM

    I haven't looked at the code, but there is ALT_MIX, which is how bias AP should be towards either inputs.

    Explained here: http://plane.ardupilot.com/wiki/arduplane-parameters/#GPS_to_Baro_M...

    I fly with this on zero, but barometer becomes crazy inaccurate after an hour of flight.

    Please speak to others in the community, including Tridge, to get this implemented asap :)

    • Thanks. Spoken to Tridge, but he's a busy, busy man;  he just flew the first Linux flight! Wow!

      Ardulane appears to completely ignore GPS alt as Randy highlighted above. Thank's Randy.  We are bringing some of the Arducopter code over to Arduplane to calculate laser height given pitch and roll. We are flying tomorrow, so might have some results. We are going as fast as we can and will keep this conversation going. Anyone who has any ideas, please contribute.

      The idea at this stage is to have two points in mission planner; Land_1 and Land_2. these points delimit the "landing strip". i.e. the two points constitute the start and end of the landing zone as well as the landing direction.

  • Developer

    The latest arduplane code should have all the required code to communicate with the SF02 LRF.  It's documented on the copter wiki here.  Tridge was also working on using it for autolanding but I'm not sure where he's gotten to.

    On copter we never use the GPS altitude because it's just not reliable, I suspect plane does the same but I'm not totally sure.  It may be the EKF tries to blend in that data as well.. sorry, not sure.

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