Land failsafe mode! - Is this possible?

[alexrjohnston]

What I am looking for is IMU and baro assisted land failsafe, essentially the same as the GPS rescue but instead of going up and flying home first the drone will just land where it is. Can this be achieved by changing the GPS recuse settings IE set climb to 0? or would the code need tweaking? Thanks in advance.

[haslinghuis]

Agree this would be a nice feature to use

[alexrjohnston]

Agreed, the reason throttle lock based landing is not so helpful is that it doesn't take into account different payloads or momentum, if you are heading at the ground fast you will need a different throttle value to get the drone into a controlled descent than if you are boosting it upwards.

[haslinghuis]

Please see #4663

[alexrjohnston]

Thanks for the link, I would suggest the landscape is very different now compared to 2017 as GPS rescue is now implemented, my request is simply a case of allowing just the landing section of the GPS rescue code to be triggered?

[haslinghuis]

Would love to have landing option. Not sure using RESCUE_DESCENT and RESCUE_LANDING phases on it self would allow for smooth landing.

[alexrjohnston]

I did think that, they might only work properly if the drone is in a hover ready to descend.

The existing land failsafe would be more than good enough if there is a simple way to control the descent speed, possibly baro? or baro gps mix if avail