@Adolfo_Cobo wrote:
Hello to all,
I had to switch to ArduPlane 3.8beta5 after several crashes that seemed related to a bug resetting integrators of PIDs on mode changes with ArduPlane 3.7.1, and solved in new betas. Everything is fine now but I have noticed a weird behaviour: I am trying to configure a Bormatec Maja airplane for AUTO missions, and everything works fine but in the middle of an automatic landing, I see a message in Mission Planner "restarted landing sequence to waypoint #" and the plane resume the mission in the previous waypoing and tries to land again. It happen always (10 times, so far), regardless of the mission configuration. I am not using a range sensor for altitude correction at landing, but all are short (2 minutes) missions, and altitude drift is small. Sometimes the abort procedure works and the plane resume the mission, but sometimes it is too close to the ground and land anyway, but with the throttle at maximum trying to gain altitude. I all cases, landing sequence seems normal, with small glidding slopes, and detect the flare point at the correct altitude (3 meters). Abort is triggered before reaching the landing point.
I have read about the parameter LAND_ABORT_THR that abort the landing if throttle joystick is above 95%, but it is set to 0 by default.
I have no clue what could be the reason.
I have searched through the code of Arduplane and the trigger seems to be this one:// see if we have reached abort altitude
if (adjusted_relative_altitude_cm_fn() > auto_state_takeoff_altitude_rel_cm) {
next_WP_loc = current_loc;
mission.stop();
if (restart_landing_sequence()) {
mission.resume();
}That seems related to an "abort altitude" (I cannot trace where those two values are set, though). In the last flight (see telemetry log attached) flare was detected at 3.3m and abort was triggered at about 1m just around the moment the plane touch the ground.
Please find attached the telemetry logs and parameters.2017-06-27 21-09-46_aborlanding_con_MIN_GND=0.tlog (1.3 MB)
Maja parameters 24jun2017.param (14.2 KB)Any help will be appreciated.
Thank you and regards,
Adolfo.
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