Although my full waypoint mission flies relentlessly in auto mode I faced an issue during landing(also in auto mode). (I flew the autonomous mission with my Hexacopter to an altitude of 110ft AGL and from there it took the landing)
I have set the landing parameters as follows:
LAND_SPEED_HIGH = 0 (The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used).
WPNAV_SPEED_DN = 150 cm/s. (Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission).
LAND_ALT_LOW = 400 cm.(Altitude during Landing at which vehicle slows to LAND_SPEED).
LAND_SPEED = 50 cm/s. (The descent speed for the final stage of landing in cm/s).
According to these parameters my Hexacopter, during the first stage of landing was supposed to land at WPNAV_SPEED_DN and during final stage of landing from an altitude specified at LAND_ALT_LOW it should have slowed down to LAND_SPEED.
But it seemed that completely opposite happened. The copter speed was LAND_SPEED during the first stage and WPNAV_SPEED_DN during final stage. This happened second time.
How is it possible that the speeds are getting reversed?..This is something new for me.