教程

The land detector is responsible for determining if the aircraft is still in air or landed. It is essentially a dynamic model of the vehicle which allows other parts of the system to configure the airframe correctly on-ground or in-air conditions.

All multicopter land detection parameters start with - not all of them are covered here, but they can be looked up in the QGroundControl parameter editor.

• Manual landed throttle: The throttle level at which the airframe is considered descending at maximum rate in manual mode. The parameter LNDMC_MAN_DWNTHR is set by default to 15%. A racer frame might require a lower setting, e.g. 8%.
• Manual takeoff throttle: The throttle level for takeoff. this should be above hover throttle, but not too far. The parameter LNDMC_POS_UPTHR is set to 65% throttle by default. Setting it closer to hover throttle will result in a more gentle takeoff.

Fixed Wing Configuration

All fixed wing land detection parameters start with - not all of them are covered here, but they can be looked up in the QGroundControl parameter editor.

• The maximum velocity in landed state can be configured using the parameter. It represents the value of a short-term velocity integral. It is set by default to 4 m/s. As for airspeed lower values can lead to earlier in-air detection but increase false-positives for in-air detection.