Use flight control sample to control landing, and hover when it descends to 0.7m from the ground?

Keywords: OSDK control flight ,OSDK landing, 0.7/0.5m hovering, landing protection, precise landing control

For model m210/M300, when the downward vision is enabled, the universal landing API of OSDK will have landing protection, which is 0.7m hovering (M210 0.5m). At this time, a confirmation landing control will pop up on the remote control APP interface, and the user can manually confirm landing.
OSDK provides confirmation and forced landing API, that is, no landing protection hovering occurs.

API：
startForceLanding*
startConfirmLanding*

Refer to the use in the sample "c" option:

bool FlightSample::goHomeAndConfirmLanding(int timeout) {
...
/*! Step 4: Confirm Landing */
DSTATUS("Start confirm Landing and avoid ground action");
ErrorCode::ErrorCodeType forceLandingAvoidGroundAck =
vehicle->flightController->startConfirmLandingSync(timeout);
if (forceLandingAvoidGroundAck != ErrorCode::SysCommonErr::Success) {
DERROR(
"Fail to execute confirm landing avoid ground action! Error code: "
"%llx\n ",
forceLandingAvoidGroundAck);
return false;
}
...
}

Note: If it is needed to disable the downward vision to disable the landing hover protection,

1. When the downward vision is disabled, this protection cannot be turned off in the simulator, that is, when the downward vision is disabled, there will be no landing and hovering only in real flight.

2. With the downward vision is disabled, OSDK needs to use the throttle control when using the flightCtrl to control the altitude when landing, and VERTICAL_THRUST to control the landing so that the landing protection hovering will not occur. This kind of scheme is usually used for precise landing control.

It is not recommended to turn off the downward vision when not making precise landing.

Note: This article is from Chinese and is translated by machine. If there is any suggestions, please point it out and we will correct it in time