After tuning a bit, I’ve managed to land my drone(Copter-3.6.7) on visual targets within few centimeters.
LANDING_TARGET messages with
~30Hz frequency via companion computer. I tried to add Kalman filter and increase the speed but since the internal PrecLand also has one, I thought it wouldn’t be logical to add extra prediction level so, I’m just sending measurements.
My problem is, I see oscillation in the pitch axis before getting close to the targets:
Unfortunately, the log of this flight is lost within the folder with lots of other logs but I can provide some info;
- I’ve done
AUTOTUNEwith aggressive setting
- Camera is simple rolling shutter webcam.
- It also does huge angles to center landing area aggressively when altitude is higher and it’s away from the zone in x and y
- I actually don’t have a problem with the current precision(mostly between 0 - 5 cm and I need this much),
- Landed it with these parameters under 30 km/h (~16 knots) wind couple of times, it was beautiful
Perhaps this behaviour is happening because of the hard mounted camera + aggressive settings. But I’ve never seen that somebody mounts it with a gimbal so, I’m not sure about what to do to fix oscillation without losing the precision and the wind resistance.