PX4 Setup

info

PX4 precision landing requires a valid, robust global position estimate due to a limitation in the current PX4 position controller. If GNSS/GPS quality is poor (e.g., high HDOP, multipath, intermittent fix), landing accuracy will degrade accordingly.

1. Run AutoTune to ensure the UAV's PID values are well tuned.
2. Serial port parameters
   • MAV_1_CONFIG = TELEM# then reboot.
     • Use MAV_2_CONFIG if MAV_1_CONFIG is already in use.
     • MAV_0_CONFIG is typically used for a telemetry radio.
   • MAV_1_FORWARD = Enabled (1)
   • MAV_1_MODE = Onboard
   • MAV_1_RATE = 0
   • SER_TEL#_BAUD = 230400 8N1
3. Precision landing parameters
   • PLD_SRCH_ALT ≈ half of the landing target's max detection distance. (Use 5 meters for the landing target included in the box.)
   • RTL_PLD_MD = Opportunistic precision landing

Additional Resources

• PX4 Precision Landing Guide
• PX4 PLD Parameter List