The landing was broken off: the plane goes around
What ArduPilot says:
- Landing aborted, climbing to Nm
- Landing slope too steep, aborting (N.Nm N.Ndeg)
- Landing aborted via throttle
- Landing gear was not deployed
The automatic landing was abandoned. The plane climbs on the landing heading to the height in “Landing aborted, climbing to …” (the abort altitude in the landing command, else the last take-off altitude, else 30 m) and then starts the landing again. The other lines say who decided. “via throttle”: you pushed the throttle to 90% or more, with LAND_ABORT_THR 1. “slope too steep”: the rangefinder showed the plane higher than the barometer said, by more than LAND_ABORT_DEG of extra slope. “Landing gear was not deployed”: found at the flare. The ground station can command a go-around too.
What to do, most likely first
You or the ground station asked for the go-around.
FixNothing to fix. Let it climb and come round; a “Restarted landing …” line shows where the new approach begins.
The barometer had drifted, and the rangefinder found the plane well above its planned slope.
CheckIn “Landing slope too steep” the first number is the height correction in metres, the second the extra slope in degrees.
FixThis abort happens once per landing: the next approach uses the corrected height. If it happens on every flight, lower the approach waypoint or move it further out.
The retractable landing gear did not report that it was down.
FixCheck the gear's servo and its output function on the bench, and that
LGR_OPTIONSbit 1 (deploy during landing) is set.
Parameters to look at
| Parameter | What it is |
|---|---|
LAND_ABORT_THR | Landing abort using throttle |
LAND_ABORT_DEG | Landing auto-abort slope threshold |
LAND_SLOPE_RCALC | Landing slope re-calc threshold |
RNGFND_LANDING | Enable use of rangefinder |
LGR_OPTIONS | Landing gear auto retract/deploy options |
Where to do it:Mission Energy Check
The code that sends it
Landing aborted, climbing to Nm
ArduPlane/ArduPlane.cpp Plane::set_flight_stage() · Open in ArduPilot Plane-4.6.3
ArduPlane/Plane.cpp Plane::set_flight_stage() · Open in ArduPilot Plane-4.7.1
Landing slope too steep, aborting (N.Nm N.Ndeg)
libraries/AP_Landing/AP_Landing_Slope.cpp AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump() · Open in ArduPilot Plane-4.7.1
Landing aborted via throttle
ArduPlane/ArduPlane.cpp Plane::update_flight_stage() · Open in ArduPilot Plane-4.6.3
ArduPlane/Plane.cpp Plane::update_flight_stage() · Open in ArduPilot Plane-4.7.1
Landing gear was not deployed
libraries/AP_Landing/AP_Landing_Slope.cpp AP_Landing::type_slope_verify_land() · Open in ArduPilot Plane-4.7.1