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77 lines
3.3 KiB
77 lines
3.3 KiB
1 year ago
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# Fixed Wing Landing Pattern (Plan Pattern)
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The _Fixed Wing Landing Pattern_ tool allows you to add a fixed wing landing pattern to a mission.
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It is supported on both ArduPilot and PX4.
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The first point of the pattern is a loiter point with a specific altitude and the second is a landing point.
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The vehicle will loiter at the first point until it reaches the target altitude, and then begin the landing sequence to fly down to the specified landing spot.
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Both the loiter and land points can be dragged to new positions, and a number of other settings can be configured in the associated mission item.
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## Creating a Landing Pattern
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To create a landing pattern:
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1. Open [PlanView](../plan_view/plan_view.md) _Plan Tools_.
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1. Choose the _Pattern Tool_ from the _Plan Tools_ and then select _Fixed Wing Landing Pattern_.
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This will add a _Landing Pattern_ item to the mission list (on the right).
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1. Click on the map to create both the loiter point and the landing point.
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These can be moved on the map.
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Additional settings are covered in the next section.
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## Settings
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The landing pattern can be further configured in the associated mission item (in the mission item list on the right hand side of the Plan View).
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### Loiter Point
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The _Loiter Point_ settings are used to configure the loiter altitude, radius and direction.
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The configurable options are:
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- **Altitude** - Loiter altitude.
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- **Radius** - Loiter radius.
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- **Loiter clockwise** - Check to loiter in a clockwise direction (anti-clockwise is the default).
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### Landing Point
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The _Landing Point_ settings are used to configure the landing position and path.
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The configurable options are:
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- **Heading** - Heading from loiter point to land point.
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- **Altitude** - Altitude for landing point (nominally zero).
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- _Radio Buttons_
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- **Landing Dist** - Distance between loiter point and landing point.
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- **Glide Slope** - Glide slope between loiter point and landing point.
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- **Altitudes relative to home** - Check to set all altitudes in mission item to be relative to home (default is AMSL).
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## Implementation
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This pattern creates three mission items:
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- `DO_LAND_START` - If you abort a landing it sends `DO_GO_AROUND` to the vehicle, which then causes the mission to return to this point and try to land again.
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- `NAV_LOITER_TO_ALT` - Start point for landing
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- `NAV_LAND` - End point for landing
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The vehicle flares to landing using a flight path generated by the firmware between the `NAV_LOITER_TO_ALT` point and the `NAV_LAND` point.
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If those two locations violate the vehicle's flare constraints (e.g. descent angle is too steep) an error will be raised after you upload the invalid mission to the vehicle.
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::: info
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On PX4, violating the flare constraints sends an error message to the ground station at upload time, and the autopilot will refuse to start the mission (since it fails integrity checks).
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:::
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