Precision Landing retry

ArduCopter Copter 4.5
1

Hi All,

I have an IR LOCK system and LightWare (rangefinder) installed on my UAV.
Precision loiter and LAND command are working well, but, I’m trying to make the retry landing work with no success.
I tried to change the parameters according to the Wiki (LINK) but it looks like it does not affect anything, The UAV continues to land even when the target is lost.

This is the current PLND configuration that I have on the UAV:

PLND_ACC_P_NSE,2.5
PLND_ALT_MAX,8
PLND_ALT_MIN,0
PLND_BUS,-1
PLND_CAM_POS_X,0
PLND_CAM_POS_Y,0
PLND_CAM_POS_Z,0
PLND_ENABLED,1
PLND_EST_TYPE,1
PLND_LAG,0.02
PLND_LAND_OFS_X,0
PLND_LAND_OFS_Y,0
PLND_OPTIONS,0
PLND_RET_BEHAVE,0
PLND_RET_MAX,4
PLND_STRICT,1
PLND_TIMEOUT,0.5
PLND_TYPE,1
PLND_XY_DIST_MAX,0.2
PLND_YAW_ALIGN,0

Any help will be appreciated!

2

hello,

We would need a log. Most probable issue is that you touch some RC and abort the precland

3

Thank you for your replay,
During the LAND command there was no RC inputs…

Logs are in this link:

Thanks,