Hi everyone,
I tried landing a VTOL on a moving truck but ran into an issue—it couldn’t land after three attempts. I followed the instructions outlined in this guide.
The VTOL is able to reach the hold-off altitude and descend, but it never completes the landing—it just keeps following the beacon.
I’ve uploaded the BIN file here for reference: BIN file.
Does anyone have any advice or suggestions on how to resolve this issue?
Thank you!
Yeah, you can see in the log file with RCIN.C3.
I see this message during vtol followed the beacon :"
2024-08-31 12:23:20.357, 01:00:02.309619, Weathervane Active: nose in,
2024-08-31 12:23:21.336, 01:00:03.289848, VTOL position1 d=130.5 r=300.0,
2024-08-31 12:23:21.336, 01:00:03.289983, VTOL Position1 d=130.5,
2024-08-31 12:23:21.446, 01:00:03.390259, VTOL position2 started v=2.1 d=3.6 h=40.1,
2024-08-31 12:23:22.385, 01:00:04.333233, VTOL position1 d=128.7 r=300.0,
2024-08-31 12:23:22.385, 01:00:04.333283, VTOL Position1 d=128.7,
2024-08-31 12:23:22.406, 01:00:04.352377, VTOL Overshoot d=4.0 cs=-0.1 yerr=-3.2,
2024-08-31 12:23:22.446, 01:00:04.390122, VTOL position2 started v=2.0 d=4.0 h=40.0,
2024-08-31 12:23:23.439, 01:00:05.383471, VTOL position1 d=126.9 r=300.0,
2024-08-31 12:23:23.439, 01:00:05.383524, VTOL Position1 d=126.9,
2024-08-31 12:23:23.475, 01:00:05.419529, VTOL Overshoot d=4.6 cs=-0.3 yerr=-5.2,
2024-08-31 12:23:23.545, 01:00:05.489132, VTOL position2 started v=1.9 d=4.6 h=40.0,
2024-08-31 12:23:24.488, 01:00:06.432662, VTOL position1 d=125.5 r=300.0,
2024-08-31 12:23:24.488, 01:00:06.432712, VTOL Position1 d=125.5,
2024-08-31 12:23:24.535, 01:00:06.479487, VTOL Overshoot d=5.2 cs=-0.3 yerr=-8.0,
2024-08-31 12:23:24.545, 01:00:06.489030, VTOL position2 started v=2.0 d=5.2 h=45.5,
2024-08-31 12:23:25.452, 01:00:07.396050, VTOL position1 d=5.5 r=300.0,
2024-08-31 12:23:25.452, 01:00:07.396126, VTOL Position1 d=5.5,
2024-08-31 12:23:25.455, 01:00:07.399263, VTOL Overshoot d=5.5 cs=-0.3 yerr=-9.4,
2024-08-31 12:23:25.455, 01:00:07.399502, VTOL position2 started v=2.0 d=5.5 h=40.0,
2024-08-31 12:23:26.444, 01:00:08.388785, VTOL position1 d=121.9 r=300.0,
2024-08-31 12:23:26.444, 01:00:08.388907, VTOL Position1 d=121.9,"
any advice for this message?
Those messages look like the VTOL approach messages. I’m not familiar with ship (truck) landing so I can’t say for sure. Those messages are explained here:
https://ardupilot.org/plane/docs/quadplane_rtl.html#q-rtl-mode-3
