# Software Setup

#### XBStationPilotApp For Enterprise

* Download ([Contact us](https://xbstation.com/contact))

#### Enable Precision Landing

* In XBStationPilotApp, navigate to **Precision Landing** tab -> **Active**

![](/files/jIQvqBqauaurJMeVzhDd)![](/files/R8BcI1ZvcCoRPwvHCTfx)

### 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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