Hi!
For me its unclear what position MAV_CMD_NAV_LAND will use. We are trying to do a reasonable precise landing on a location (<20cm err) with rtk fixed gps. This works fine in RTL as it seems to be locked to a gps pos, but in land mode it just starts at the location of the land mode trigger (which ca deviate quite a bit).
In MAV_CMD_NAV_LAND there are params for location, but i have not found a way to let the autopilot ajust its landing towards this location while going down.
Command MAV_CMD_NAV_LAND not correctly implemented · Issue #282 · lis-epfl/MAVRIC_Library · GitHub this library has their own hack it seems.
And precision landing requires a beacon or another form of external steering.
Does somebody know how to trigger the precise landing from RTL in land mode?