Autonomous correction for failed Precision landing

ArduCopter Copter 4.0
1

I am currently working on a project where a quadcopter needs to fly autonomously and land on a platform in order to be charged without any direct involvement from a person. We’re currently using an IR-Lock sensor and MarkOne beacon and ArduCopter 4.0.

There is a chance of the UAV either landing incorrectly on the platform so it cant be charged, or that is misses the platform entirely, and we are required to correct for this. I was wondering if there is any function in ArduPilot that would allow the UAV to recognise that it failed to land properly and take off again to try another landing.

2

Maybe when the landing fails its precision is because the irlock was not locked. You can see it in mavlink before it lands. When the beacon is locked there is a value that goes to 1 but can’t recall the name off it.
Edit: i was taking a look at the pull requests for the feature and i am not sure is merged yet.