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ardupilot/libraries/AP_Scripting/applets/plane_precland.md

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Plane Precision Landing

This script implements a precision landing system for VTOL fixed wing aircraft (quadplanes).

Precision positioning over a landing sensor is supported in QLOITER, QLAND, QRTL and AUTO landing.

Parameters

Beyond the normal PLND parameters the script adds 2 additional parameters to control it's behaviour. The parameters are:

PLND_ALT_CUTOFF

This is an optional altitude in meters below which the precision landing system will stop correcting the landing position. Many precision landing sensors have poor performance at low altitudes, so setting this to around 5 meters is advisable. A value of zero disables this cutoff.

PLND_DIST_CUTOFF

This is a maximum horizontal distance in meters that will be accepted for a landing corrections. If this parameter is greater than zero and the precision landing subsystem gives a distance beyond this distance then precision landing correction will stop and the last landing position will be used.

Operation

You should first install and configure a precision landing sensor as described here:

https://ardupilot.org/copter/docs/precision-landing-with-irlock.html

then you should enable the precision subsystem and install the lua script in the APM/scripts folder of your flight controller.

The script will start adjusting the landing position only when in the descent phase of an automatic VTOL landing. The PPLD log message can be used to analyse the performance of the precision landing.

It is advisable to have a manual pilot able to take over control in a mode such as QLOITER for instances where the precision landing system may malfunction.

Moving Target

If the PLND_OPTIONS bit for a moving target is enabled then the vehicle will be set to track the estimated target velocity during descent

Precision QLoiter

To enable precision position hold in QLOITER you will need to use auxiliary function 39 (PRECISION_LOITER) on an R/C switch or via GCS auxiliary switch buttons. When enabled the vehicle will position itself above the landing target. Height control is under user control.