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ArduPilot Setup

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QuadPlane (ArduPlane) precision landing requires the use of a Lua script. Please see this discussion for details. Documentation can be found here.

  1. Run AutoTune to ensure the UAV's PID values are well tuned.
  2. Serial port parameters
    • Determine the serial index for the selected TELEM port using your flight controller's UART mapping.
      • For example, on the Pixhawk 6X, TELEM1, TELEM2, and TELEM3 map to SERIAL1, SERIAL2, and SERIAL5, respectively.
    • SERIAL#_BAUD = 230400
    • SERIAL#_PROTOCOL = MAVLink2
  3. Precision landing parameters
    • PLND_ENABLED = Enabled then reboot.
    • PLND_TYPE = CompanionComputer / MAVLink
    • PLND_ALT_MAX ≈ half of the landing target's max detection distance. (Use 5 meters for the landing target included in the box.)
    • PLND_YAW_ALIGN: ArduPilot assumes the Landmark module's X axis points forward. If not, set a yaw offset in centidegrees.
      • For example, if the module points rearward (an offset of 180º), set PLND_YAW_ALIGN = 18000.
    • RTL_LOIT_TIME = 0 to remove delay between RTL and precision landing.

Additional Resources​