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Autopilot Autoland

To set the Auto-Land:


1. set a way-point at the start of any runway.

2. enter that way-point into the "start of runway" keypad.

3. set a way-point at the end of that same runway.

4. enter that way-point into the "end of runway" keypad.

5. press "2" to engage the Gyro if not already done so.

6. press "4" to engage the Auto-Land.


Sit back and relax, the plane will fly itself to the selected airport and land (If tuned properly).




The Auto-Land controller works with 2 way-point inputs and an on/off input, and controls pitch, roll, yaw, and throttle. The controller takes the way-points and makes "virtual way-points" that are in line with the 2 previous way-points. The plane flies to the farthest "virtual way-point" and goes to a set altitude. Once it reaches the "virtual way-point" it switches to the next one and descends in altitude. It does the same for the next way-points, and every way-point gets it more in line with the runway. Once it gets to the start of the runway it lowers the throttle and descends to meet the runway, when it makes contact with the runway it lowers the throttle the rest of the way and slowly applies the brakes based on how for away from the end of the runway it is.


Tuning your own aircraft:

Settings

"yaw gain" no unit
Controls how much pitch roll and yaw the controller uses to make turns.

"first altitude" meters
The altitude the controller goes to when first turned on.

"second altitude" meters
The altitude the controller goes to after it reaches the first way-point.

"third altitude" meters
The altitude the controller goes to after it reaches the second way-point.

"landing altitude" meters
The altitude the controller goes to after it reaches the start of the runway way-point, this setting should be distance between you distance sensor and the ground when you aircraft is level on the runway.

"Alt hold P term" no unit
The P term of an alt hold tuned to your aircraft.

"Alt hold I term" no unit
The I term of an alt hold tuned to your aircraft.

"Alt hold D term" no unit
The D term of an alt hold tuned to your aircraft.

"Cruise throttle" ~0-1(not sure)
The cruising throttle of your aircraft.

"Landing throttle" ~0-1(not sure)
The throttle right before you land, you aircraft should not be able to fly with this throttle, it should slowly fall (this could also be reverse thrust).

"Stopped throttle" ~0-1(not sure)
The throttle at which you aircraft produces no thrust.

"Brake dampening" meters
How many meters away from the end of runway do you want your brakes to start "braking", bigger numbers mean softer braking earlier, and smaller numbers mean harder braking later.

"throttle speed dampening" no unit
The speed the controller raises and lowers the throttle, THIS NUMBER IS INVERTED, smaller numbers mean faster change in throttle, bigger numbers mean slower changes in throttle.

"approach waypt 1" runway lengths
The distance of the second "virtual way-point", this number should be half of "approach waypt 2"

"approach waypt 2" runway lengths
The distance of the first "virtual way-point", this variable changes the distance the plane starts to line-up with the runway.



To see this controller in action on a plane see:
https://steamcommunity.com/sharedfiles/filedetails/?id=2559746622


Version 2.0
https://steamcommunity.com/sharedfiles/filedetails/?id=2825977312


If you wish to upload a vehicle to the workshop with my micro-controller please ask me first and credit me in the description of your vehicle.