# Land Mode: Quadcopter is drifting is land mode **URL:** \ **Category:** PX4 Autopilot\ **Created:** [March 8, 2025, 6:16am UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209 "2025-03-08T06:16:39Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![pr0digy1337](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/b38774/32.png) [@pr0digy1337](https://discuss.px4.io/u/pr0digy1337)\ **Post date:** [March 8, 2025, 6:16am UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/1 "2025-03-08T06:16:39Z")
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 ---
**Author:** ![carbon](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/c2a13f/32.png) [@carbon](https://discuss.px4.io/u/carbon)\ **Post date:** [March 10, 2025, 1:57pm UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/2 "2025-03-10T13:57:48Z")
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? ---
**Author:** ![pr0digy1337](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/b38774/32.png) [@pr0digy1337](https://discuss.px4.io/u/pr0digy1337)\ **Post date:** [March 10, 2025, 3:58pm UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/3 "2025-03-10T15:58:12Z")
Hey, thank you for the reply I am using the Mico Air MTF-01 Sensor and 1.14.3 px4 firmare ---
**Author:** ![carbon](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/c2a13f/32.png) [@carbon](https://discuss.px4.io/u/carbon)\ **Post date:** [March 11, 2025, 3:15am UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/4 "2025-03-11T03:15:47Z")
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 ! ---
**Author:** ![pr0digy1337](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/b38774/32.png) [@pr0digy1337](https://discuss.px4.io/u/pr0digy1337)\ **Post date:** [March 11, 2025, 6:17am UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/5 "2025-03-11T06:17:33Z")
In Pos hold mode mode there no noticable drift This is how I have mounted my sensors ![IMG_20250311_114541](https://discuss.px4.io/uploads/default/original/3X/3/f/3fdf3671c557e263e03c264e9313486135c7808b.jpeg) ---
**Author:** ![carbon](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/c2a13f/32.png) [@carbon](https://discuss.px4.io/u/carbon)\ **Post date:** [March 11, 2025, 7:07am UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/6 "2025-03-11T07:07:12Z")
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 ---
**Author:** ![pr0digy1337](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/b38774/32.png) [@pr0digy1337](https://discuss.px4.io/u/pr0digy1337)\ **Post date:** [March 11, 2025, 2:05pm UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/7 "2025-03-11T14:05:55Z")
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](https://drive.google.com/drive/folders/1NVEGZG5eKUI0bn7ghNXOKx2TM5MNNytk?usp=sharing) ---
**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\ **Post date:** [June 9, 2025, 2:06pm UTC](https://discuss.px4.io/t/land-mode-quadcopter-is-drifting-is-land-mode/44209/8 "2025-06-09T14:06:48Z")
Closed on June 9, 2025, 2:06pm UTC This topic was automatically closed 90 days after the last reply. New replies are no longer allowed.