Hi all! I can’t figure out what parameters to tweak so that there is an even glide path. The aircraft weighs 23kg, wingspan 3.6m. each attempt to adjust the parameters may end in a crash, so there is no particular opportunity to experiment. It usually does not fly 130-160m to the landing point. When landing, there is a very sharp decline over 180 meters, and the flight is at low altitude. A rangefinder is installed on board for a better fit, but I can’t figure out what parameters I should fix, because in manual mode I land it perfectly.
https://drive.google.com/file/d/167dYOvgVowCFEZzdt-TjIvKA4HtTj4Vh/view?usp=sharing
I am sure you are well aware of the contents of the following link, but again, please focus on the flare point.
https://ardupilot.org/plane/docs/automatic-landing.html#basic-autolanding
The flare point is calculated in the following part of the source code.
I roughly calculated from your log that the flare point is about 200m short of the landing point. The auto-landing process appears to be working correctly.
To resolve this issue, I would suggest adjusting the parameters as follows;
- Decrease LAND_FLARE_ALT
- Decrease LAND_FLARE_SEC
- Decrease the speed of the landing start point.
LAND_FLARE_AIM was added in Ver. 4.4. It is recommended to try this option as well.
https://ardupilot.org/plane/docs/parameters-Plane-beta-V4.4.0-beta3.html#land-flare-aim-flare-aim-point-adjustment-percentage
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