The automatic landing has begun
What ArduPilot says:
- Landing approach start at N.Nm
- Landing glide slope N.N degrees
The mission reached its landing command. “Landing approach start” gives the height above home at that moment. “Landing glide slope” is the angle of the straight line Plane will fly down, from the waypoint before the landing point to the place where the flare, the final levelling-out, begins. The slope comes only from the mission: the height of that waypoint against its distance from the landing point. A plane without flaps gains speed on a steep slope and lands long.
What to do, most likely first
The slope is steeper than the plane can hold without speeding up.
CheckIn the log the airspeed rises during the approach although the throttle is closed.
FixMove the waypoint before the landing point further out, or lower it, and upload the mission again.
Parameters to look at
| Parameter | What it is |
|---|---|
TECS_LAND_ARSPD | Airspeed during landing approach (m/s) |
LAND_FLARE_ALT | Landing flare altitude |
LAND_FLARE_SEC | Landing flare time |
Where to do it:Mission Energy Check
The code that sends it
Landing approach start at N.Nm
libraries/AP_Landing/AP_Landing_Slope.cpp AP_Landing::type_slope_do_land() · Open in ArduPilot Plane-4.7.1
Landing glide slope N.N degrees
libraries/AP_Landing/AP_Landing_Slope.cpp AP_Landing::type_slope_setup_landing_glide_slope() · Open in ArduPilot Plane-4.7.1