Land Mode: Quadcopter is drifting is land mode

PX4 Autopilot
1

I am using a pixhawk 6c mini for my quadcopter. When i engage land mode the quadcopter is drifitng. Can any one tell me what is the fix for this, also i am using a optical flow sensor and a range sensor, is there any way possible to use the flow sensor and distance sensor in the land mode.

Please note: There was no gps connected to the flight controller only a optical flow and range sensor

2

Hey @pr0digy1337 would like to know these two things:

  • Which optical flow sensor and range sensor are you using in your bird?
  • Which Px4 version are you running in your pixhawk?
3

Hey, thank you for the reply
I am using the Mico Air MTF-01 Sensor
and 1.14.3 px4 firmare

4

The drift is likely due to how PX4 handles position estimation during descent. Since you don’t have GPS, the flight controller relies entirely on the flow sensor and range sensor, and sometimes these sensors don’t provide consistent data during landing

  • Please check if the drift issue is persistent in position mode as well
  • And the FOV of the Lidar is clear and on a flat surface, sometimes a bumpy surface will lead to such drifts
  • Ensure the EKF2 parameters are changes to use both optical flow and Lidar sensor
  • Ensure the optical flow sensor is correctly aligned

Please feel free to come back with more questions, and please attach a pic on how have you mounted the module.

Hope this works and happy landings !

5

In Pos hold mode mode there no noticable drift
This is how I have mounted my sensors

IMG_20250311_114541
IMG_20250311_1145411920×1424 160 KB

6

This is new, I use the same Lidar and the landing is pretty straight, yet what is the EKF2 paramteres being EKF2_RNG_CTRL Enabled
EKF2_HGT_REF Range sensor or any changes and whne you mean drift how much like 0.2meters drift?? TBS Discovery or a clone of it? Happy to see that after a while - Nice build

7

Tried to get the original discovery but could get it because of imports and stuff
so yes its a clone of it, i can share the video in a google drive here.

https://drive.google.com/drive/folders/1NVEGZG5eKUI0bn7ghNXOKx2TM5MNNytk?usp=sharing