PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
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      • Preflight Checks
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  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
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    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
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      • Offboard Mode
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  • Advanced Configuration
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    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
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    • Complete Vehicles
      • ModalAI Starling
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      • Pixhawk Series
        • Silicon Errata
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        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
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        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
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        • Hex Cube Black (FMUv3)
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        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
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On this page
  • Auto-Disarming
  • Multicopter Configuration
  • MC Land Detector States
  • Fixed-wing Configuration
  • VTOL Land Detector
  1. Advanced Configuration

Land Detector Configuration

PreviousBootloader Flashing onto Betaflight SystemsNextPrearm/Arm/Disarm Configuration

Last updated 1 year ago

The land detector is a dynamic vehicle model representing key vehicle states from ground contact through to landed. This topic explains the main parameters you may wish to tune in order to improve landing behaviour.

Auto-Disarming

The land-detector automatically disarms the vehicle on landing.

You can set to specify the number of seconds after landing that the system should disarm (or turn off auto-disarming by setting the parameter to -1).

Multicopter Configuration

The complete set of relevant landing detector parameters are listed in the parameter reference with the prefix (these can be edited in QGroundControl via the ).

:::tip Information about how the parameters affect landing can be found below in . :::

Other key parameters that you may need to tune in order to improve landing behaviour on particular airframes are:

  • - the hover throttle of the system (default is 50%). It is important to set this correctly as it makes altitude control more accurate and ensures correct land detection. A racer or a big camera drone without payload mounted might need a much lower setting (e.g. 35%).

    :::note Incorrectly setting MPC_THR_HOVER may result in ground-contact or maybe-landed detection while still in air (in particular, while descending in or ). This causes the vehicle to "twitch" (turn down the motors, and then immediately turn them back up). :::

  • - the overall minimum throttle of the system. This should be set to enable a controlled descent.

  • - the vertical speed applied in the last stage of autonomous landing if the system has a distance sensor and it is present and working. Has to be set larger than LNDMC_Z_VEL_MAX.

MC Land Detector States

In order to detect landing, the multicopter first has to go through three different states, where each state contains the conditions from the previous states plus tighter constraints. If a condition cannot be reached because of missing sensors, then the condition is true by default. For instance, in and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.

In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time . If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.

If one condition fails, the land detector drops out of the current state immediately.

Ground Contact

Conditions for this state:

  • additional check if vehicle is currently in a height-rate controlled flight mode: the vehicle has to have the intent to descend (vertical velocity setpoint above LNDMC_Z_VEL_MAX).

  • additional check for vehicles with a distance sensor: current distance to ground is below 1m.

If the vehicle is in position- or velocity-control and ground contact was detected, the position controller will set the thrust vector along the body x-y-axis to zero.

Maybe Landed

Conditions for this state:

  • has low thrust MPC_THR_MIN + (MPC_THR_HOVER - MPC_THR_MIN) * 0.1

  • no freefall detected

If the vehicle only has knowledge of thrust and angular rate, in order to proceed to the next state the vehicle has to have low thrust and no rotation for 8.0 seconds.

If the vehicle is in position or velocity control and maybe landed was detected, the position controller will set the thrust vector to zero.

Landed

Conditions for this state:

Fixed-wing Configuration

Tuning parameters for fixed-wing land detection:

VTOL Land Detector

The VTOL land detector is 1:1 the same as the MC land detector if the system is in hover mode. In FW mode, land detection is disabled.

no vertical movement ()

no horizontal movement ()

lower thrust than + (hover throttle - ) * (0.3, unless a hover thrust estimate is available, then 0.6),

all conditions of the state are true

is not rotating ()

all conditions of the state are true

- the maximum airspeed allowed for the system still to be considered landed. Has to be a tradeoff between airspeed sensing accuracy and triggering fast enough. Better airspeed sensors should allow lower values of this parameter.

- the maximum horizontal velocity for the system to be still be considered landed.

- the maximum vertical velocity for the system to be still be considered landed.

- the maximal horizontal acceleration for the system to still be considered landed.

- Trigger time during which the conditions above have to be fulfilled to declare a landing.

:::note When FW launch detection is enabled (), the vehicle will stay in "landed" state until takeoff is detected (which is purely based on acceleration and not velocity). :::

ground contact
maybe landed
parameter editor
Position mode
Altitude mode
Acro mode
Land Detector States
COM_DISARM_LAND
LNDMC
MPC_THR_HOVER
MPC_THR_MIN
MPC_LAND_CRWL
LNDMC_TRIG_TIME
LNDMC_Z_VEL_MAX
LNDMC_XY_VEL_MAX
MPC_THR_MIN
MPC_THR_MIN
LNDMC_ROT_MAX
LNDFW_AIRSPD_MAX
LNDFW_VEL_XY_MAX
LNDFW_VEL_Z_MAX
LNDFW_XYACC_MAX
LNDFW_TRIG_TIME
FW_LAUN_DETCN_ON