by LPR » Thu Nov 19, 2015 3:48 pm
Srinath and Christof
The reason I was using two landing WPs was to have a quick way to lower altitude at the horizontal position of the last non landing WP.
I've used an 18 meter ROI on a landing WP in a mission that was flying at 6 m/s and it worked great. The quad had a nice curved landing. It lost altitude while still slowing down.
So I thought that 20 m/s might work just as well. All the WPs in the crash mission had 20 meter of ROI which let the quad make corners and not slow down. How ROI works is still a little confusing to me but I think when the quad is at 20 meters from the landing WP Nav controller uses some of the landing WP settings from the upcoming WP to control the quad.
My guess is that the motors being turned off was caused by the throttle being lowered as the quad started flying inside the ROI and by the time the quad was at the landing WP the throttle was low enough to trigger the disarming of the quad.
To stop a crash I think I can still use the two landing WPs but I'll have the ROI be at 1.5 meters and just to be sure there's no crashing a 5 second loiter on the last non landing WP would not hurt.
I will also need to add a 6 m/s WP before the landing WP to stop the quad from overshooting the landing WPs. Adjusting the Nav settings can stop the overshooting but those settings really slow down the acceleration.
It would be really nice to have a separate control for braking because a copter can brake at a much higher angle than used during acceleration and not lose altitude.
The large ROI keeps the overshooting of the corner WPs from being a problem when flying at 20 m/s. I still need to try 30 m/s so I can make use of a tail wind. The camera's for farm field photos work well at 30 m/s if there's bright sunlight.
Larry
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Last edited by
LPR on Thu Nov 19, 2015 8:58 pm, edited 1 time in total.