I’ve been using my IRLOCK a couple of months and it works really fine (the landing accuracy is around 30 cm as advertised). However, when I use it in a bigger quad with large propellers (20x6.1), I always have the same issue: when the IRLOCK detects the beacon, the quad centers above it and continues its descent. Around 1 m, the copter hovers as if the IRLOCK wasn’t sure of the beacon presence (sometimes it goes up a couple of cm) and after some seconds it finally lands.
This has to do with the logic of the IRLOCK, because when I don’t use the beacon, the copter lands smoothly without hovering during descent (of course without the beacon it lands in the home point just based on the GPS).
A couple of remarks:
The landing speed is 1 m/s above 10 m.
Below 10 m, the landing speed is 0.35 m/s. I’ve found from a lot of testing that I can reliably detect the beacon at that speed.
I have attached a video of the behavior and the log of the corresponding flight.
Same behavior for me. I don’t think that this has something to do with the prop size, mine is a 12” quad.
Agree it would be great if there was a parameter to adjust the landing speed once the copter came down to 1 m with IR Lock.
@ThomasSFL, could you check this, please? I’ve made some flights last week, this time using a LidarLite rangefinder. As you can see in my logs, the rangefinder works up to 40 m, and the beacon was detected up to 20 m in air without issues. However, the same thing happened: at around 1 m the copter hovers, goes up a couple of cm, and then lands after some seconds.
I attach a new Youtube video describing this behavior.