Simulation always aborts landing at 30ft

Open-UAS / PX4-Autopilot

PX4 Autopilot Software

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Simulation always aborts landing at 30ft #6

Closed C-Glick closed 3 years ago

C-Glick commented 3 years ago

Thought it was because no LIDAR was present in the simulation and FW_LND_USETER was enabled. Added a distance sensor but did not fix the issue, need to investigate.

C-Glick commented 3 years ago

Was due to the simulated lidar having a limited range of 15m (49ft). src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp line 1300

// we have started landing phase but don't have valid terrain
// wait for some time, maybe we will soon get a valid estimate
// until then just use the altitude of the landing waypoint
...
// still no valid terrain, abort landing

Increasing the range to 35m (127ft) and enabled early landing config FW_LND_EARLYCFG seemed to fix the issue.

C-Glick commented 3 years ago

beginning the landing procedure at a lower loiter altitude also helped