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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 = MAVLink or CompanionComputer
    • PLND_EST_TYPE = RawSensor
    • PLND_ALT_MAX ≈ half of the landing target's max detection distance. (Use 5 meters for the landing target included in the box.)
    • RTL_LOIT_TIME = 0 to remove delay between RTL and precision landing.
  4. Camera offset
    • PLND_CAM_POS_X: Landmark module position forward of the vehicle origin, in meters
    • PLND_CAM_POS_Y: Landmark module position right of the vehicle origin, in meters
    • PLND_CAM_POS_Z: Landmark module position down from the vehicle origin, in meters
    • PLND_YAW_ALIGN: yaw angle from the vehicle forward axis to the Landmark module X axis, in centidegrees
      • For example, if the module's X axis points right, set PLND_YAW_ALIGN = 9000.

Additional Resources​