AUTOLAND: the landing direction, and why the mode can refuse
What ArduPilot says:
- Must already be flying!
- Takeoff initial direction not set
- Autoland direction= N
- autoland not available
AUTOLAND, new in 4.7, lands the plane at home without a mission: it flies a circuit and lands in the direction it took off in. “Autoland direction=” is that direction, in degrees, being stored: once after arming, when the plane is flying with more than 5 m/s of ground speed. The other three lines are refusals to enter the mode: the plane is not flying; it is a QuadPlane, for which this mode does not exist; or no take-off direction has been stored.
What to do, most likely first
The take-off was flown in a mode that does not store the direction: FBWB, CRUISE, LOITER or GUIDED.
CheckThere is no “Autoland direction=” line after arming.
FixTake off in MANUAL, STABILIZE, ACRO, TRAINING, FBWA, AUTOTUNE, TAKEOFF or AUTO. Or set
AUTOLAND_OPTIONSbit 0: the compass heading is then stored at the moment of arming, so arm with the plane pointing along the runway.The mode was selected on the ground.
FixAUTOLAND is for a plane already in the air. On the ground select the mode you take off in.
The aircraft is a QuadPlane.
FixUse QRTL or QLAND to come home and land.
The stored direction is forgotten at every disarm. AUTOLAND_DIR_OFF turns the landing direction away from the take-off direction by that many degrees. FS_LONG_ACTN 5 uses this mode for the long failsafe and falls back to RTL when it is refused.
Parameters to look at
| Parameter | What it is |
|---|---|
AUTOLAND_WP_ALT | Final approach WP altitude |
AUTOLAND_WP_DIST | Final approach WP distance |
AUTOLAND_DIR_OFF | Landing direction offset from takeoff |
AUTOLAND_OPTIONS | Autoland mode options |
The code that sends it
Must already be flying!
ArduPlane/mode_autoland.cpp ModeAutoLand::_enter() · Open in ArduPilot Plane-4.7.1
Takeoff initial direction not set
ArduPlane/mode_autoland.cpp ModeAutoLand::_enter() · Open in ArduPilot Plane-4.7.1
Autoland direction= N
ArduPlane/mode_autoland.cpp ModeAutoLand::set_autoland_direction() · Open in ArduPilot Plane-4.7.1
autoland not available
ArduPlane/mode_autoland.cpp ModeAutoLand::_enter() · Open in ArduPilot Plane-4.7.1