IRLock in RTL mode?

ArduCopter Copter 3.4
1

Hello,

I would like to know if the precision landing function with IRLock that basic function in LAND mode had evolved to operate in RTL mode?

2

Triggering an RTL with automatic precision landing is working so far. I have a little video for you:

Stefan

3

Good new !

Thank you, it’s cool !

4

hi, nice video. What params did you use for IRLock?
Mission Planner only shows PLND_ENABLED and PLND_TYPE.

PRECLND_* is not there any more despite that IRLOCK website mentions it: https://irlock.readme.io/docs/ac33-precision-landing-firmware

also, did you use a rangefinder? According to them v3.4 requires a sonar or lidar.

My log shows “Heal” = 0 all the time, but I cannot find the issue.

5

I use a SF/11c as rangefinder.

Bg,
Stefan

6

thanks Stefan

what params are you using?

  1. PLND_*
  2. RNGF_*

thanks!

7

How do you trigger an RTL “with automatic precision landing”? I have precision landing working in precision loiter and in land, but cant get it to work with RTL!

Please help! @fingadar

8

Can you give me a link to a logfile of a flight with RTL?

9

I think i figured it out, when i had no terrain follow for RTL it didnt work but when I enabled terrain following for RTL it worked. Now the problem is that my range finder is only works up to 10 meters, so i cant put the RTL altitude higher than 10 meters :S … Do you have any ideas how to bypass this problem? Thanks!!