Please understand me but I don't want to make any autoland function for RTH
only with BARO!
My oppinion is that RTH is made for bringing the copter back if any unwanted orientation loss/video signal loss in FPV happens.
Once it hovers on a safety altitude over home, control can be given back and land manually or continue the flight.
Autoland with automated slow down function is available in FAILSAFE_RTH routine, because failsafe means there is no any valid connection between transmitter/copter, so it must be taken down somehow. In that case autoland decreases the probability of crashes. But that's all!
A good autoland function should be taken into a separated function, for example to a switch: Take off/land position
For good autoland instead of baro and GPS, optical flow sensor and sonar must be used!
For this we need 2 things:
- optical flow sensor
- sonar sensor
We would need something like this:https://pixhawk.ethz.ch/px4/modules/px4flow
Once sensor handling is implemented into MWI, values could be used for a SAFETY autoland feature!!! I'd be pleased to help making a good autoland/takeoff feature just like ie. in ar-drone...
So this is the reason why I would not support any improvements related to autoland except in FAILSAFE mode, I hope you understand my position.
, I'll check out what happens if you fly lower than armed level!
So in my next release I'm sure it will be tested/solved if there will be any problem caused by negative value.
Please be patient for some days because it is snowing since many days here...