Autoland mode : Loiter to alt sticks at a fixed altitude

ArduPlane Plane 4.7
1

Hello,

I’ve encountered another altitude descent issue during the autoland sequence

The glider gets stuck in loiter at a fixed altitude

I’m currently using version 4.7 Beta, but this had already happened with version 4.7 Dev in June 2025 (with a different glider and a different flight controller)

The glider is a motor glider fitted with an airspeed sensor and with soaring mode enabled

Most of the time, it works perfectly. There may occasionally be a conflict between soaring functionality and autoland mode…

Here is today’s log:

And last year’s log with a Mission Planner screen video:

1 Like
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I have had a quick look at this, certainly a genuine bug, but I can’t immediately see a easy fix. I will add it to our issues list and we will try and get it fixed soon.

1 Like
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Thanks for taking the time to look into this.

Now that I think about it, what I thought was an offset during the landing phase might be due to the same issue. Autoland mode (Height offset) Arduplane V4.7.0-dev (7351a858) · Issue #30911 · ArduPilot/ardupilot · GitHub

Here’s an idea—for what it’s worth, given my limited knowledge of the system: wouldn’t it be enough to automatically and temporary set SOAR_ENABLE to 0 in AutoLand mode?