PLND_ parameters¶

20 parameters in the PLND_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

PLND_ACC_P_NSE¶

Kalman Filter Accelerometer Noise

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Range	`0.5` to `5`
User level	Advanced

PLND_ALT_MAX¶

PrecLand maximum alt for retry

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

Units	`m`
Range	`0` to `50`

PLND_ALT_MIN¶

PrecLand minimum alt for retry

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

Units	`m`
Range	`0` to `5`

PLND_BUS¶

Sensor Bus

Precland sensor bus for I2C sensors.

User level

Advanced

Values¶

Value	Meaning
`-1`	DefaultBus
`0`	InternalI2C
`1`	ExternalI2C

PLND_CAM_POS_X¶

Camera X position offset

X position of the camera in body frame. Positive X is forward of the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

PLND_CAM_POS_Y¶

Camera Y position offset

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

PLND_CAM_POS_Z¶

Camera Z position offset

Z position of the camera in body frame. Positive Z is down from the origin.

Units	`m`
Range	`-5` to `5`
Increment	`0.01`
User level	Advanced

PLND_ENABLED¶

Precision Land enabled/disabled

Precision Land enabled/disabled

User level

Advanced

Values¶

Value	Meaning
`0`	Disabled
`1`	Enabled

PLND_EST_TYPE¶

Precision Land Estimator Type

Specifies the estimation method to be used

User level

Advanced

Values¶

Value	Meaning
`0`	RawSensor
`1`	KalmanFilter

PLND_LAG¶

Precision Landing sensor lag

Precision Landing sensor lag, to cope with variable landing_target latency

Units	`s`
Range	`0.02` to `0.250`
Increment	`1`
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

PLND_LAND_OFS_X¶

Land offset forward

Desired landing position of the camera forward of the target in vehicle body frame

Units	`cm`
Range	`-20` to `20`
Increment	`1`
User level	Advanced

PLND_LAND_OFS_Y¶

Land offset right

desired landing position of the camera right of the target in vehicle body frame

Units	`cm`
Range	`-20` to `20`
Increment	`1`
User level	Advanced

PLND_OPTIONS¶

Precision Landing Extra Options

Precision Landing Extra Options

User level

Advanced

Bitmask¶

Value	Meaning
`0`	Moving Landing Target
`1`	Allow Precision Landing after manual reposition
`2`	Maintain high speed in final descent

PLND_RET_BEHAVE¶

PrecLand retry behaviour

Prec Land will do the action selected by this parameter if a retry to a landing is needed

Values¶

Value	Meaning
`0`	Go to the last location where landing target was detected
`1`	Go towards the approximate location of the detected landing target

PLND_RET_MAX¶

PrecLand Maximum number of retires for a failed landing

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

Range	`0` to `10`
Increment	`1`

PLND_STRICT¶

PrecLand strictness

How strictly should the vehicle land on the target if target is lost

Values¶

Value	Meaning
`0`	Land Vertically (Not strict)
`1`	Retry Landing(Normal Strictness)
`2`	Do not land (just Hover) (Very Strict)

PLND_TIMEOUT¶

PrecLand retry timeout

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attempt a landing retry depending on PLND_STRICT parameter.

Units	`s`
Range	`0` to `20`

PLND_TYPE¶

Precision Land Type

Precision Land Type

User level

Advanced

Values¶

Value	Meaning
`0`	None
`1`	MAVLink
`2`	IRLock
`3`	SITL_Gazebo
`4`	SITL

PLND_XY_DIST_MAX¶

Precision Landing maximum distance to target before descending

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

Units	`m`
Range	`0` to `10`
User level	Advanced

PLND_YAW_ALIGN¶

Sensor yaw alignment

Yaw angle from body x-axis to sensor x-axis.

Units	`cdeg`
Range	`0` to `36000`
Increment	`10`
User level	Advanced