I've set up auto landing using Safehome. Coming to Safehome, reducing altitude to approach altitude, loitering and making wind direction estimate, flying downwind, flying baseleg and reducing height at baseleg and turning to final and aligning with landing strip are all flawless. Absolutely perfect. Can not be better.
The problem is height management on final in my case. I've tried 40 autolands in one day. Every autoland is executed 10 seconds after takeoff (to prevent baro related drifts). Always rebooted fc at each try and armed on the ground. Checked the altitude is 0 while arming. Played with approach length, approach altitude, maxalt_vspd, minalt_vspd, slowdown_maxalt, slowdown_minalt, pitch2thr value and pitch2thr modifier value (tried 100-400). No matter what, plane always came to landing spot high (at 180-200 cm) and landed 50 meters further from landing spot. Like the landing spot I entered, is where the glide starts. Coordinates are accurate to cm. By the way, the final approach is beautiful, no one can approach like this by hand, but the touchdown is always further away.
Tried with friends' 4 different fpv planes. Floaty ones, fast ones, always the same.
All planes have GPS only. No compass, airspeed or lidar present.
Is iNav making the calculations that plane should be at glide start at Safehome point? Or what am I missing?
iNav 9.1
Tried with Speedybee F405 Wing, Matek H743 Wing, TBS Lucid H7 Wing
Best regards.
I've set up auto landing using Safehome. Coming to Safehome, reducing altitude to approach altitude, loitering and making wind direction estimate, flying downwind, flying baseleg and reducing height at baseleg and turning to final and aligning with landing strip are all flawless. Absolutely perfect. Can not be better.
The problem is height management on final in my case. I've tried 40 autolands in one day. Every autoland is executed 10 seconds after takeoff (to prevent baro related drifts). Always rebooted fc at each try and armed on the ground. Checked the altitude is 0 while arming. Played with approach length, approach altitude, maxalt_vspd, minalt_vspd, slowdown_maxalt, slowdown_minalt, pitch2thr value and pitch2thr modifier value (tried 100-400). No matter what, plane always came to landing spot high (at 180-200 cm) and landed 50 meters further from landing spot. Like the landing spot I entered, is where the glide starts. Coordinates are accurate to cm. By the way, the final approach is beautiful, no one can approach like this by hand, but the touchdown is always further away.
Tried with friends' 4 different fpv planes. Floaty ones, fast ones, always the same.
All planes have GPS only. No compass, airspeed or lidar present.
Is iNav making the calculations that plane should be at glide start at Safehome point? Or what am I missing?
iNav 9.1
Tried with Speedybee F405 Wing, Matek H743 Wing, TBS Lucid H7 Wing
Best regards.