Software Setup
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In XBStationPilotApp, navigate to Precision Landing tab -> Active
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.
XBLink will capture the processed image and store it in /var/snap/xbfirm/common/vision _landing
Precision Loiter will be trigged when drone in Loiter Mode
Precision Landing will be trigged when drone in RTL Mode
Precision Landing will be trigged when drone in Land Mode
When drone in Auto Mode (Mission) and the current waypoint is Land, precision landing will be trigged
When drone in Auto Mode (Mission) and the current waypoint is RTL, precision landing will be trigged
If this pram is false, XBLink will not send the mavlink command to flight controller
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
Marker Dictionary
Default: FRACTAL_3L_6
Percentage of frames in tracking history that marker must be detected to be activated.
Default: 30
Number of frames that each marker is tracked for active marker transition
Default: 10
This is the number of random threshold iterations when no markers found
Default: 3
RNGFND_MIN_CM
RNGFND_MAX_CM
Distance (in cm) from the range finder to the ground
Maximum latency to active processed image. If the image have processing time greater than this value, XBLink will ignore it.
Default: 250
If the vehicle altitude(in millimeter) is greater than this value, precision landing will be denied
The width of the camera will be changed to this value when precision landing is trigged.
Default: 640
The height of the camera will be changed to this value when precision landing is trigged.
Default: 360
The fps of the camera will be changed to this value when precision landing is trigged.
Default: 15
Camera calibration path
Default: camera_calibration.yml
Video source
Default: /dev/video0
If marker is set in config, XBLink only process this marker id, ignore the others
Set -1 to allow all markers
Default: -1
XBLink will lock the marker if the vehicle have the altitude lower than this value (in Meter)
Default: 2
The vehicle will loiter at this value(in meter)
Set the value -1 to ignore it
Default: 2
The vehicle will move to the center of the marker, and will land if the angle is less than this value.
Default: 0.07
The vehicle will move to the center of the marker, and will land if the angle is less than this value.
Default: 0.07
If Allow Gimbal is activated, gimbal will move to the designed angle when precision landing is trigger
Angle of gimbal when precision landing disable
Angle of gimbal when precision landing active
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
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
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
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
