senseFly EBEE RTK Extended User Manual page 88

Advanced functionalities
The Linear landing process uses an optical-based sensor to detect the proximity
of the ground. A number of conditions on the environment and the positions of
the Home waypoint and approach sectors must be met in order for the ground
sensor to function correctly and ensure the accuracy of the Linear landing:
• If the Linear landing location is not at the same altitude as the Take-off lo-
cation you must adjust the Landing altitude parameter in the 'Setup Phase'
tab, as the drone uses this altitude to level out and slow down before land-
ing (Steps 6-8). Enable the 'Land at a different altitude than take-off' check-
box and set the altitude as an absolute value in AMSL.
Note: When 'Land at a different altitude than take-off' is enabled the
Home waypoint's altitude will be converted to AMSL instead of ATO
(by default 75m above the landing location).
Caution: Incorrectly setting the altitude of the Linear landing loca-
tion will decrease the accuracy of the Linear landing and may result
in damage to the eBee RTK.
• A Linear landing can only be performed over flat terrain. Ensure that the
ground is flat and at the same altitude as the Linear landing location for
a distance of at least 100 m from the Linear landing location within every
approach sector. It is also recommended to have flat terrain in the opposite
direction of every approach sector in case a Linear landing is aborted in its
final stages.
Caution: Attempting a Linear landing on sloped terrain, the top of
a roof or the edge of a cliff or any other terrain that is not flat will
likely result in false detection of the height above the ground during
the approach and may result in damage to the eBee RTK. In particular,
landing downhill may cause a large overshoot and should always be
avoided.
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