Drone Landed but landing was not detected and did not disarm

ArduCopter Copter 4.6
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1

FC: Cube Orange Plus

Firmware: ArduCopter 4.6.1

Configuration: Hexa X

I am using a dronekit python script to perform aruco detection using a camera, it was all working good. in one flight when drone centered and reached one meter altitude detecting aruco it switched to land mode according to the script, now in Land mode the drone drifted around 1 meter from aruco location and touched the ground and slightly tilted and still armed, then drone leveled on the ground but never disarmed. after certain period, i first reduced the throttle to 0 and switched the mode to Alt Hold to take manual intervention for disarm. after switching to Alt Hold the two-motor speed increased and drone propeller tip touched ground and then drone disarmed.

I am attaching log of that flight for reference. Please let me know what the exact problem must be

2026-01-22 10-24-47.bin

Thanks in advance !!

2

Looks like Land Detector work well. If you not give throttle low input dron will not disarm.

Try to set

PILOT_THR_BHV =4 (autodisarm after Land detected)

Also set Disarm Delay to 5 sec.