"Ardupilot": how to land a fixed-wing drone when TX or RX fails, using only the telemetry



Unfortunately these things can happen, and you've to know how to best manage, not to be caught unprepared.
This test was performed with the aid of a wireless termination system on main power, so if the drone was out of control I had a chance to get it to fall in the area  permitted for this operation in my country (70 meters high , 200 of radius).
As specified in the video don't try this thing if you don't know with absolute certainty that you're doing!
Turn off the TX when the drone is flying it's not recommended in any case
This video is in italian language, but subtitles in english are available.
If you want to create subtitles in your own language or simply correct my "maccheronic english" click this link: https://www.youtube.com/timedtext_video?v=mqiOk_o6O4o&ref=share

Bests,

Marco

Views: 1120

Comment by Cala on September 24, 2016 at 7:05am

Nice Marco thank's for the video, few days ago I was trying to do some practice with stil for emergency land, looks usefull for training I'm going to try this.

Sorry an off topic question: Is that a Phantom x61?  I have one in the box yet, my idea is to mount, configure and, finally, transform to cuadplane; can you share your params to have an start config? thank's.


Developer
Comment by Marco Robustini on September 24, 2016 at 10:01am

Yes, Phantom FX-61!
About sharing my parameters I don't think can be useful, the TECS and the stabilization parameters are related to the hardware of the drone, which in my case mounts a particular propulsion system, as well as the servos.
If the Manual flight mode for the pilot is not a problem you must not be afraid to make mistakes, because you can always recover the flight attitude in Manual mode.

Comment by Jason Franciosa on September 24, 2016 at 2:45pm

Marco, How come your EKF is going off like crazy? 

I've seen the EKF on my systems go off for 2 reasons mainly. 1st is typically compass errors due to the internal compass on the pixhawk being extremely sensitive to everything, however, lately i've been disabling the internal compass completely and its much, much better.

or 2nd. GPS Interference causes the vert and horizontal esimates to go crazy, this can actually cause the plane to commit fatal operations. I've seen issues with both 1.3 ghz and 2.4 ghz, especially wifi frequencies.

Curious as to what is causing your EKF to go wild?

Comment by Cala on September 24, 2016 at 3:15pm

Yes, that true Marco, thank's.


Developer
Comment by Marco Robustini on September 25, 2016 at 12:28am

@Jason: yes, in that drone the Pixhawk is near the main battery and the internal compass goes crazy, and in this drone i use the automatic "compass and magnetic declination", so the EKF red alert is for compass variance.


Developer
Comment by Tom Pittenger on September 26, 2016 at 8:48am

Hi @marco! Great video, thank you for sharing! I would like to encourage you to try a different landing flight path to be more simple. Your "approach" in terms of ArduPlane is only between the last normal waypoint and the LAND waypoint. It will slow you down and handle flaring but you've planned your mission to only be in that stage for a couple seconds. Not enough time for the flight controller to do most of the landing procedure.

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