mirror of https://github.com/ArduPilot/ardupilot
10 lines
1.6 KiB
Markdown
10 lines
1.6 KiB
Markdown
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This script is intended to allow easy, unpre-planned operation at any location with the protection of a do-land-start autoland sequence for failsafes that accounts for takeoff direction (ie wind direction). Final approach objects must be considered before you launch.
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If enabled by AUTOLAND_ENABLE =1, setups up an autotakeoff waypoint as first waypoint and upon Arming , adds mission items consisting of: DO_LAND_START,Final Approach WP opposite bearing from HOME of heading used during takeoff, to AUTOLAND_WP_ALT above home, and at AUTOLAND_WP_DIST distancee, and a LAND waypoint at HOME and stops until next disarm/boot. Warnings are given if the AUTOLAND parameters are not set.
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In use you just arm and switch to AUTO, and then switch to other flight modes after takeoff is completed to fly around.....relatively assured that a failsafe (assuming defaults for Failsafe) will result in an autolanding in the correct direction. You can also just switch back to AUTO or RTL to do an autoland.
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Caveats: be sure you have tested and setup autoland and AUTOLAND parameters. Setting AUTOLAND_WP_ALT and _WP_DIST for a good glide path on a final approach is required (be aware of possible obstructions when using). Values of 400 meters distance and 55 meters altitude work well for typcial 1m wingspan/1 kg foam planes. RTL_AUTOLAND must be set and a value = 2 is recommended also.
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Be aware of obstacles that might come into play on a final approach. Be aware that occasionally final approach waypoints may not be exactly in line with the takeoff if the GPS signal quality is compromised during takeoff.
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