Rtl issue using 1.5.4

Hi Guys,

I have tested V1.5.4
Went through RADIUS 60m
Came back but has never landed.

Configuration:

GEOFENECE FAILSAFE TRIGGER
MAX RADIUS: 60m
MAX ALTITUDE: 20m

LOITER AND LAND AFTER SPECIFIED TIME
LOITER TIME 20.0 s
LOITER ALTITUDE 5.0m

Log File
http://logs.uaventure.com/view/Y6Ykxoto7uDJZPqUrQJse7

Regards,

pturcotte

I have tested it with 1.5.5
looks like if descend rate is too sliw, ex: 0.5m/sec it doesn’t like it…
I changed it to 1m/s and it was working after.
Is it only that?
Regards,
pturcotte

Yes, currently the full landing descent is set by the param MPC_LAND_SPEED (default 0.5 m/s).
There’s been discussion of increasing the landing descent speed until the last few meters, but then you’d have to be careful in situations where you don’t necessarily know the height of the ground.

@pturcotte If changing the land speed fixed it that’s a hint that your altitude velocity controller tuning is not capable of tracking small velocity errors. I think we can default to 0.75 m/s without issues (we’ve tested 0.8 m/s).

Seems to be right… I tried it to 1.5m/s… This is too fast… LOLLLLLL!!!

Please comment regarding the following

Actually our issue doesn’t seem to be related to the decend speed.

We think it is realated by the BARO foam thickness not being controlled from one quad to another…

I found open cell foam strip 5mm thick.
I did like the PIXHAWK and other FC where BARO foam is slightly touching the pcb.
So BARO is in mechanical interference by its thickness basically.

Tested it, it works correctly now, no issue doing the RTL and landing.
I had to tune the altitude accuracy a little bit to make it more aggressive, now it works.

Any aditionnal recommendation?

Regards,

pturcotte