Oscillation during PrecLand with Visual Landing Targets (Video)

@cosmicog wrote:

Hello all,

After tuning a bit, I’ve managed to land my drone(Copter-3.6.7) on visual targets within few centimeters.

I’m sending LANDING_TARGET messages with ~30Hz frequency via companion computer. I tried to add Kalman filter and increase the speed but since the internal PrecLand also has one, I thought it wouldn’t be logical to add extra prediction level so, I’m just sending measurements.

My problem is, I see oscillation in the pitch axis before getting close to the targets:

Unfortunately, the log of this flight is lost within the folder with lots of other logs but I can provide some info;

• I’ve done AUTOTUNE with aggressive setting
• LAND_SPEED 25
• PSC_POSXY_P 0.71
• PSC_POSZ_P 1.0
• Camera is simple rolling shutter webcam.
• It also does huge angles to center landing area aggressively when altitude is higher and it’s away from the zone in x and y
• I actually don’t have a problem with the current precision(mostly between 0 - 5 cm and I need this much),
• Landed it with these parameters under 30 km/h (~16 knots) wind couple of times, it was beautiful

Perhaps this behaviour is happening because of the hard mounted camera + aggressive settings. But I’ve never seen that somebody mounts it with a gimbal so, I’m not sure about what to do to fix oscillation without losing the precision and the wind resistance.

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