Hi everyone,
I have a question regarding the terrain-following system in the ArduPlane firmware. I am currently operating a hybrid VTOL UAV for agricultural applications. My goal is to have the drone fly in quadcopter mode during spraying missions to navigate terraced terrain effectively.
For my proof of concept, I installed a Benewake TF02 rangefinder, which has a proven range of up to 40 meters. I followed the official documentation to configure the parameters and set the mission to Auto mode (specifically in quadcopter mode) with the planner set to Terrain mode.
However, the system is not working as expected. During testing, the drone reaches the altitude specified in the VTOL_TAKEOFF waypoint, but immediately lands afterward instead of proceeding to the next waypoint in quadcopter mode.
Actually my VTOL UAV mission is to fly in fixed wing mode to find spraying area and transition again into quadcopter for spraying. That’s why I need terrain following critically during spraying in quadcopter mode.
I have attached my parameter file and flight logs for reference. Any insights into why the drone is failing to execute the mission would be greatly appreciated!