Landmark Precision Landing System

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Hey have any of you’ll worked or used the landmark precision landing system. I found their website and found it intriguing Products – Landmark Landing

Can any of you’ll help me out on this?

2

Hi Chandy,

Jacob here :waving_hand: , creator of the Landmark system. I’m happy to answer any questions you have.

Our Setup Guide covers PX4 integration at a high level.

Are you interested in how the system works with PX4? (compared to ArduPilot)

Do you have a specific use case in mind?

If you share your airframe, flight controller, and PX4 version, I can provide more insights.

1 Like
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Here’s a video of PX4 Precision Landing with the Landmark Precision Landing System.

4

Hi, @Jgunde I’m considering using your product for landing in a nest. Could you help me understand more about it?

  • What is the maximum and minimum altitude AGL (Above Ground Level) from the marker that your system supports?

  • Can I use it for heading orientation correction?

  • Can I use different markers for different altitudes or landing stages?

5

Hi Michael,

Thanks for reaching out!

To answer your questions:

  • The minimum distance between the camera and a marker is about 3 cm. This was tested with a 1 cm x 1 cm marker.

  • There is no maximum detection distance as it depends on the size of the marker. The purchase includes the “A4 Max” landing target shown here. This landing target contains a 21 cm x 21 cm marker that can be detected from up to 10 meters away.

  • The Landmark System works by sending a MAVLink LANDING_TARGET message to the autopilot. This message contains the full 3D position and orientation of the landing target. In theory, this can be used to align the heading of the UAV to the target. Currently, this functionality is not implemented in PX4 but there is work being done to implement it: Pull Request #22008.

  • Yes, different sized markers can be used depending on the landing requirements. We provide landing targets with varying sizes here. The Landmark System also supports custom landing targets. (A “landing target” is an arrangement of one or more AprilTag markers.)

    Best,
    Jacob

6

hey Jacob!
Thank you for the fast replay,
is there in option to detach the camera from the raspberryPi?
what is the FOV of the camera?

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The Landmark System contains the ArduCam B0390 camera. It is essentially identical to the Raspberry Pi Camera V2 and has a field of view of 62.2° (H) × 48.8° (V). It is connected to a Raspberry Pi Zero 2W via an FPC cable. The camera can be disconnected, but doing so would void the warranty because it requires opening the enclosure and, if not done properly, could cause damage.

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@Michael_Kazula

We’ve just launched our Landing Target Configurator! I thought you may be interested as it allows users to create, modify, and export custom landing targets for the Landmark Precision Landing System. Please let me know if you find it useful or have any feedback. :smiley:

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Hi @Jgunde and @Michael_Kazula, please not that the PR mentioned: https://github.com/PX4/PX4-Autopilot/pull/22008 is stale and was replaced by Draft: Static Vision-based target esitmator (Kalman Filter) by JonasPerolini · Pull Request #23726 · PX4/PX4-Autopilot · GitHub .

To help speed up the merge process it would be great if you could help flight-test the new feature.

I’m happy to discuss the details in the PX4 Discord.

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Thanks @JonasPerolini! It probably won’t be for a couple weeks, but I’ll definitely flight test this. I’ll message you about the details.

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Thanks @Jgunde, note that if you’re using openCV to detect aruco markers, this PR Include pixel-based confidence in ArUco marker detection by JonasPerolini · Pull Request #23190 · opencv/opencv · GitHub might be of interest to you. It extends the marker detection to output a pixel-based confidence which can be used (in combination with other metrics) to provide a detection uncertainty and feed it to the vision target estimator.