Precision landing problem

PX4 Autopilot
1

Hi.
I’m testing precision landing.
Sometimes it feels like it’s working very well
On another day, we land far away from beacon.
(On a windy day, it was confirmed that beacon was entered correctly in PX4 LOG.)
I installed an irlock at the bottom of the center of the aircraft, a distance measurement sensor, and entered the RTL option.

PARAMETER has changed two things as below.

PLD_FAPPR_ALT : 0.1 (default) ->1 and
PLD_HACC_RAD : 0.2 (default) → 1.5 changed.

I think there is an optimized parameter value, can you tell me?

2

Hello Jaepil_yoo.

Good Day.

It looks like you were able to precisely land the drone using IRLOCK sensor in PX4 firmware. Even i am trying the same but the drone doesnt land precisely, but land normally without the help of IR Sensor. After reviewing multiple time, it looks like the IR lock driver is not being started from PX4 end even after forcefully starting it.

I would like to know how did you achieve?

Any help would me much appreciated.

Thankyou

Regards,
Yeshes P

3

Hi Yeshes,

What you can try to do is:
Turn on the drone
Open MAVlink console from QGC and type:
landing_target_estimator status (to see if it is running or not)
landing_target_estimator start

Fly the drone and perform a precision landing through Precision Landing mode. Meanwhile, the drone is landing, you can check if the irlock is working correctly, running this in the MAVlink console from QGC:

listener irlock_report -n 500

if everything works you should see the report of it.

if you see ‘‘never published’’, run the command again while the drone is landing.

Hope this helps!