Automatic Landing

After the connection of LIDAR to the system via PWM, some parameters of the autopilot must be changed so that it recognizes the sensor. These parameters can be easily changed using QGroundControl. It’s them:

• RNG_FND = 5, indicates that the connection occurs via PWM.
• RNDFND_MAX_CM = 4000, represents the maximum distance the sensor is reliable.
• RNDFND_STOP_PIN = 55, indicates the pin connected to the Lidar activation signal. Allows the device to reset the sensor if it stops providing data.
• The parameters RNDFND_SCALING and RNDFND_OFFSET must be adjusted in order to calibrate the sensor (they are usually approximately 0 and 1, respectively).

The sensor can be tested by QGroundControl, where readings can be observed in Sonar Range tab. After setting up the sensor, the autopilot will be able to land the aircraft much more quickly and accurately. The landing takes place by sending the command Land to the controller, but for it to occur correctly, the landing strip position must be defined and the landing parameters must be adjusted, such as the speed at which the airplane must land .

Note

Detailed documentation on automatic landings can be found at Automatic Landing.