Using DO_LAND_START

The DO_LAND_START mission item can be used for two purposes:

  1. In Plane, to provide an automatic re-attempt for an aborted NAV_LAND autolanding in a mission. (See How to Abort an Autolanding)

  2. To provide an automatic landing sequence for RTLs in Plane or as a failsafe action in Copter.

Note

in Rover, it can be used, but only via Scripting call to start the landing sequence.

To use, you need to do two things:

  • add a DO_LAND_START mission item to your mission, just before the start of your landing sequence(s).

  • use DO_LAND_START as a failsafe action. For example, setting FS_THR_ENABLE = “6” for RC failsafe.

Note

the “landing sequence” whose start is the DO_LAND_START marker, does not actually have to include a landing! it can be any sequence of valid mission commands.

You can optionally include more than one DO_LAND_START mission item in your mission. If that is done then the latitude/longitude/altitude of the DO_LAND_START mission items is used to choose which landing sequence to use. The DO_LAND_START closest to the current location in all three dimensions is used. This can be useful if you have multiple landing sequences for different wind conditions or different areas.

Note

If you are already in a landing sequence (NAV_LAND or DO_START_LAND sequence), then it will continue.