ArduPilot Parameter List
These parameters control Precision Landing and Precision Loiter behavior. Values and availability can vary by firmware version.
Core
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
PLND_ENABLED | Enable Precision Landing and expose PLND parameters. | 0 = Disabled, 1 = Enabled | — |
PLND_TYPE | Landing-target source. | 0 None, 1 CompanionComputer (MAVLink LANDING_TARGET), 2 IRLock, 3 SITL_Gazebo, 4 SITL | — |
Geometry and mounting
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
PLND_ORIENT | Camera/sensor orientation on the vehicle body. | 0 Forward, 4 Back, 25 Down | — |
PLND_YAW_ALIGN | Yaw rotation from body X-axis to sensor X-axis. | 0–36000 | centideg |
PLND_CAM_POS_X | Sensor X position in body frame ( +X forward ). | -5–5 | m |
PLND_CAM_POS_Y | Sensor Y position in body frame ( +Y right ). | -5–5 | m |
PLND_CAM_POS_Z | Sensor Z position in body frame ( +Z down ). | -5–5 | m |
PLND_LAND_OFS_X | Desired landing position forward of target in body frame. | -20–20 | cm |
PLND_LAND_OFS_Y | Desired landing position right of target in body frame. | -20–20 | cm |
PLND_BUS | I²C bus selection for PL sensor. | -1 DefaultBus, 0 InternalI2C, 1 ExternalI2C | — |
Estimation and dynamics
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
PLND_EST_TYPE | Estimator selection. | 0 RawSensor, 1 KalmanFilter | — |
PLND_ACC_P_NSE | KF accelerometer noise. Higher → weight camera more. | 0.5–5 | — |
PLND_LAG | Sensor/processing latency compensation. | 0.02–0.250 | s |
Limits and gating
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
PLND_XY_DIST_MAX | Do not start descent if lateral error exceeds this. 0 = always descend. | 0–10 | m |
PLND_ALT_MIN | If target is lost below this height, continue vertical landing. 0 = disabled. | 0–5 | m |
PLND_ALT_MAX | If target not found, continue vertical descent until this height, then apply retry logic. 0 = disabled. | 0–50 | m |
Retry behavior
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
PLND_STRICT | Behavior if target is lost. | 0 Land vertically (not strict); 1 Retry then land; 2 Retry then hover | — |
PLND_RET_MAX | Max retries for failed landing. 0 = no retries. | 0–10 | — |
PLND_TIMEOUT | Time to keep descending after loss before triggering a retry. | 0–20 | s |
PLND_RET_BEHAVE | Where to reposition for a retry. | 0 Go to last seen target; 1 Go toward approximate target | — |
Extra options (bitmask)
| Parameter | Bit | Meaning |
|---|---|---|
PLND_OPTIONS | 0 | Moving landing target (track target velocity) |
| 1 | Allow precision landing to continue after manual reposition | |
| 2 | Maintain high speed in final descent (disable automatic slow-down) |
RTL behavior
| Parameter | Description | Values / Range | Units |
|---|---|---|---|
RTL_LOIT_TIME | Time to loiter above home before starting final descent. | 0–60000 | ms |