I am working with a quadcopter that has a protective shell for indoor flight. With a downward rangefinder, I have very stable decent to the ground in land mode. The current challenge is land mode determining a successful landing and shutting down the motors. Often times the shell imparts a small motion in the x or y resulting in the drone attempting to correct and then rolling on the ground requiring me to manually disarm.
I am looking for ways to make the land mode and possibly crash detection more lenient. With a protective shell and flying indoors I am willing to accept the risk of a false detection in the air.
I’d also appreciate any insight from developers and others as to why rangefinders are not utilized to determine successful landing? As the drone is elevated in the shell, it always has positive distance values and I could see utilizing the RNGFNDx_GNDCLEAR parameter for landings as an option.
Thanks for your help.