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Dev: mavlink interface gets precision landing
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| .. _mavlink-precision-landing: | ||
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| ================= | ||
| Precision Landing | ||
| ================= | ||
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| Copter, QuadPlane and Rover support precision landing using the `LANDING_TARGET <https://mavlink.io/en/messages/common.html#LANDING_TARGET>`__ mavlink message | ||
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| References: | ||
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| - :ref:`Copter's user wiki for precision landing <copter:precision-landing-with-irlock>` | ||
| - `QuadPlane discussion of precision landing <https://discuss.ardupilot.org/t/quadplane-precision-landing-support-testers-needed/114072>`__ | ||
| - `MAVLink's Landing Target documentation <https://mavlink.io/en/services/landing_target.html>`__ | ||
| - :ref:`Testing Precision Landing in SITL <testing_precision_landing>` | ||
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| Users should follow the :ref:`user precision landing wiki page <copter:precision-landing-with-irlock>` including setting :ref:`PLND_TYPE <PLND_TYPE>` = 1 (MAVLink) | ||
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| The external camera system should send the `LANDING_TARGET <https://mavlink.io/en/messages/common.html#LANDING_TARGET>`__ message to the autopilot at no less than 1hz (a higher rate is better). | ||
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| If the x (e.g. forward), y (e.g. right) and z (e.g. down) distance to the target is known (in body frame) then "x", "y" and "z" fields should be populated, and "position_valid" should be set to "1". | ||
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| If only the body-frame angle to the target is known then "angle_x" and "angle_y" fields should be populated and "position_valid" should be set to "0". | ||
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| .. raw:: html | ||
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| <table border="1" class="docutils"> | ||
| <tbody> | ||
| <tr> | ||
| <th>Field Name</th> | ||
| <th>Type</th> | ||
| <th>Description</th> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>time_usec</strong></td> | ||
| <td>uint64_t</td> | ||
| <td>Timestamp since system boot. This does not need to be syncronised with the autopilot's time</td> | ||
| </tr> | ||
| <tr style="color: #c0c0c0"> | ||
| <td>target_num</td> | ||
| <td>uint8_t</td> | ||
| <td>not used</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>frame</strong></td> | ||
| <td>uint8_t</td> | ||
| <td>MAV_FRAME_BODY_FRD (12)</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>angle_x</strong></td> | ||
| <td>float</td> | ||
| <td>X-axis angular offset (in radians) of the target from the center of the image</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>angle_y</strong></td> | ||
| <td>float</td> | ||
| <td>Y-axis angular offset (in radians) of the target from the center of the image</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>distance</strong></td> | ||
| <td>float</td> | ||
| <td>Distance (in m) to the target from the vehicle or 0 if unknown</td> | ||
| </tr> | ||
| <tr style="color: #c0c0c0"> | ||
| <td>size_x</td> | ||
| <td>float</td> | ||
| <td>not used</td> | ||
| </tr> | ||
| <tr style="color: #c0c0c0"> | ||
| <td>size_y</td> | ||
| <td>float</td> | ||
| <td>not used</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>x</strong></td> | ||
| <td>float</td> | ||
| <td>x position of the landing target in meters (e.g. forward in vehicle body-frame)</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>y</strong></td> | ||
| <td>float</td> | ||
| <td>y position of the landing target in meters (e.g. right in vehicle body-frame)</td> | ||
| </tr> | ||
| <tr> | ||
| <td><strong>z</strong></td> | ||
| <td>float</td> | ||
| <td>z position of the landing target in meters (e.g down in vehicle body-frame)</td> | ||
| </tr> | ||
| <tr style="color: #c0c0c0"> | ||
| <td>q</td> | ||
| <td>float[4]</td> | ||
| <td>not used</td> | ||
| </tr> | ||
| <tr style="color: #c0c0c0"> | ||
| <td>type</td> | ||
| <td>uint8_t</td> | ||
| <td>not used</td> | ||
| </tr> | ||
| <td><strong>position_valid</strong></td> | ||
| <td>uint8_t</td> | ||
| <td>0 if angle_x, angle_y should be used. 1 if x, y, z fields contain position information</td> | ||
| </tr> | ||
| </tbody> | ||
| </table> |