Flight Controller Configuration¶
Reccomended parameter files can be found in the table below, please select the most appliciable file for your application. Please ensure the suggested parameter changes are suitable before applying the parameter files. Applying one of these parameter files to your flight controller will allow ARC flight testing to be performed.
| Application | File link |
|---|---|
| ArduPilot Static Landing | www.todo.com |
| ArduPilot Moving Landing | www.todo.com |
| PX4 Static Landing | www.todo.com |
| PX4 Moving Landing | www.todo.com |
If you would like to learn more about the parameter which affect precision landing, a summary along with recommended defaults is included below. The names of parameters often change between ArduPilot/PX4 software versions, so ensure the correct one is selected.
Serial Interface¶
| Parameter | Value | Description |
|---|---|---|
SERIAL*_PROTOCOL |
2 | MAVLink |
SERIAL*_BAUD |
57 | 57600 |
These set the serial configuration required for the ARC Primary device.
Enabling Precision Land (PLND)¶
| Parameter | Value |
|---|---|
PLND_ENABLE |
1 |
PLND_BUS |
-1 |
PLND_TYPE |
1 |
Setting PLND_ENABLE to 1 enables the precision landing parameter. After enabling, a reboot is required to see the rest of the parameters.
PLND_BUS shall be set to -1, as the I2C bus isn’t applicable here.
PLND_TYPE shall be set to 1, as ARC primary radar acts as a companion computer in interacting with the flight controller.
Kalman Estimation Technique¶
| Parameter | Value |
|---|---|
PLND_EST_TYPE |
1 |
PLND_ACC_P_NSE |
0.5 |
Kalman filter is used here to locate the target, so PLND_EST_TYPE is set to 1.
For PLND_ACC_P_NSE, 0.5 gives better stability than the default setting of 2.5.
Sensor Lag and Disabling Rangefinger¶
| Parameter | Value |
|---|---|
PLND_LAG |
0.1 |
PLND_ALT_MAX |
0 |
PLND_ALT_MIN |
0 |
The sensor lag is set to 0.1 and setting PLND_ALT_MIN / PLND_ALT_MAX to 0 disables the dependency on the rangefinder.
Loss of Precision Landing Target (PLT)¶
| Parameter | Value |
|---|---|
PLND_OPTIONS |
7 |
The PLND_OPTIONS bitmask is as follows: Bit1:
The PLND_OPTIONS shall be set to 7 to enable these features.
Enable Moving/Fast/After-Manual-Reposition Landing¶
Precision Land Trajectory¶
Primary Radar Positioning¶
Other (Default) Parameters¶
Rangefinder Configuration¶
Disabling Rangefinder furing Arming Checks¶
Reception of ATTITUDE messages from the FC¶
Serial Interface¶
Enabling Precision Land (PLND)¶
Kalman Estimation Technique¶
Sensor Lag and Disabling Rangefinger¶
Loss of Precision Landing Target (PLT)¶
Enable Moving/Fast/After-Manual-Reposition Landing¶
Precision Land Trajectory¶
Primary Radar Positioning¶
Other (Default) Parameters¶
Rangefinder Configuration¶
Disabling Rangefinder furing Arming Checks¶
Reception of ATTITUDE messages from the FC¶
Serial Interface¶
| Parameter | Value |
|---|---|
MAV_*_CONFIG |
GPS 2 |
MAV_*_FLOW_CONTROL |
Auto-detected |
MAV_*_FORWARD |
Enabled |
MAV_*_MODE |
Custom |
MAV_*_RADIO_CTL |
Enabled |
MAV_*_RATE |
0 B/s |
Swap * and GPS2 for your chosen MAVLink Instance and serial interface. MAVLink forwarding must be enabled to allow ARC Status messages through to the GCS.
Enabling Precision Land (PLND)¶
| Parameter | Value |
|---|---|
PLD_BTOUT |
2.0s |
PLD_FAPPR_ALT |
1.5m |
PLD_HACC_RAD |
1.0m |
PLD_MAX_SRCH |
4 |
PLD_SRCH_ALT |
20.0m |
PLD_SRCH_TOUT |
10.0s |