Software Setup
XBStationPilotApp For Enterprise
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Enable Precision Landing
In XBStationPilotApp, navigate to Precision Landing tab -> Active
PARAMETER
Debug
Active/DeActive debug mode.
In debug mode, the XBLink will only process image and send the video streaming with marker information (x, y, z, latency, marker Id). XBLink will NOT send the mavlink command to flight controller.
Image processing will be activated immediately without any conditions.
Record Image Processing Video
XBLink will capture the processed image and store it in /var/snap/xbfirm/common/vision _landing
Allow Precision Loiter on Loiter Mode
Precision Loiter will be trigged when drone in Loiter Mode
Allow Precision Landing on RTL Mode
Precision Landing will be trigged when drone in RTL Mode
Allow Precision Landing on Land Mode
Precision Landing will be trigged when drone in Land Mode
Allow Precision Landing on Land AUTO Mode
When drone in Auto Mode (Mission) and the current waypoint is Land, precision landing will be trigged
Allow Precision Landing on RTL AUTO Mode
When drone in Auto Mode (Mission) and the current waypoint is RTL, precision landing will be trigged
Enable send land Mavlink command
If this pram is false, XBLink will not send the mavlink command to flight controller
Size mappings
Size of the markers in meter
Syntax: <marker-1-id>:<marker-1-size>,<marker-2-id>:<marker-2-size>,<marker-2-id>:<marker-2-size>
Example: 0.075,1:0.224,0:0.5
Dictionary
Marker Dictionary
Default: FRACTAL_3L_6
Marker Threshold
Percentage of frames in tracking history that marker must be detected to be activated.
Default: 30
Marker History
Number of frames that each marker is tracked for active marker transition
Default: 10
Number Attempt Auto Thresh Fix
This is the number of random threshold iterations when no markers found
Default: 3
Range Finder Min
RNGFND_MIN_CM
Range Finder Max
RNGFND_MAX_CM
Range Finder Ground Clear
Distance (in cm) from the range finder to the ground
Precision landing Buffer
Maximum latency to active processed image. If the image have processing time greater than this value, XBLink will ignore it.
Default: 250
Maximum precision landing altitude
If the vehicle altitude(in millimeter) is greater than this value, precision landing will be denied
Width
The width of the camera will be changed to this value when precision landing is trigged.
Default: 640
Height
The height of the camera will be changed to this value when precision landing is trigged.
Default: 360
Fps
The fps of the camera will be changed to this value when precision landing is trigged.
Default: 15
Camera calibration
Camera calibration path
Default: camera_calibration.yml
Video src
Video source
Default: /dev/video0
Lock Marker Id
If marker is set in config, XBLink only process this marker id, ignore the others
Set -1 to allow all markers
Default: -1
Altitude to lock:
XBLink will lock the marker if the vehicle have the altitude lower than this value (in Meter)
Default: 2
Altitude to loiter:
The vehicle will loiter at this value(in meter)
Set the value -1 to ignore it
Default: 2
Max Loiter On Land X
The vehicle will move to the center of the marker, and will land if the angle is less than this value.
Default: 0.07
Max Loiter On Land Y
The vehicle will move to the center of the marker, and will land if the angle is less than this value.
Default: 0.07
Allow Gimbal
If Allow Gimbal is activated, gimbal will move to the designed angle when precision landing is trigger
Normal Gimbal Angle
Angle of gimbal when precision landing disable
Precision Landing Mode Gimbal Angle
Angle of gimbal when precision landing active
X Angle Landing Factors
The movement of drone for each processed image.
Syntax: <from-altitude>-<to-altitude>:<factor>:<min-angle>:<max-angle>:<zFactor>,<from-altitude-1>-<to-altitude-1>:<factor-1>:<min-angle-1>:<max-angle-1>:<zFactor-1>
Default: 0-1:1:-100:100:1.0,2-4:0.9:-100:100:1.0,4-10:0.45:-100:100:1.0
Y Angle Landing Factors
The movement of drone for each processed image.
Syntax: <from-altitude>-<to-altitude>:<factor>:<min-angle>:<max-angle>:<zFactor>,<from-altitude-1>-<to-altitude-1>:<factor-1>:<min-angle-1>:<max-angle-1>:<zFactor-1>
Default: 0-1:1:-100:100:1.0,2-4:0.9:-100:100:1.0,4-10:0.45:-100:100:1.0
X Angle Loiter Factors
The movement of drone for each processed image.
Syntax: <from-altitude>-<to-altitude>:<factor>:<min-angle>:<max-angle>:<zFactor>,<from-altitude-1>-<to-altitude-1>:<factor-1>:<min-angle-1>:<max-angle-1>:<zFactor-1>
Default: 0-1:1:-100:100:1.0,2-4:0.9:-100:100:1.0,4-10:0.45:-100:100:1.0
Y Angle Loiter Factors
The movement of drone for each processed image.
Syntax: <from-altitude>-<to-altitude>:<factor>:<min-angle>:<max-angle>:<zFactor>,<from-altitude-1>-<to-altitude-1>:<factor-1>:<min-angle-1>:<max-angle-1>:<zFactor-1>
Default: 0-1:1:-100:100:1.0,2-4:0.9:-100:100:1.0,4-10:0.45:-100:100:1.0
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