Hi, I’m having some trouble tuning my ArduPlane to do a precise automatic landing. I already tuned the the Pitch/Roll, Navigation and TECS controllers as best I could. I’m using X-Plane 11 to run the simulations before putting this on my real rc plane. Here are my parameters for landing:
Here’s what’s happening with those settings: when the plane reaches LAND_FLARE_ALT, it pitches up to at most TECS_LAND_PMAX, and then slowly lowers the nose to try to maintain TECS_LAND_SINK until touchdown.
What I don’t like about this landing is the pitch up right after LAND_FLARE_ALT. I want the plane to find TECS_LAND_SINK much much quicker, without pitching up as much, regardless of the speed it is going at (I’ll be landing on grass, and the speed of the plane on landing is not a big concern as long as it’s precise and somewhat smooth). Which parameters should I change to limit the pitch up right after the flare while maintaining the desired sink rate?
Here’s a screenshot of a test I performed.
Let me know if you need more information!
Thanks a lot