ardupilot irlock 精准降落的源码及问题纪录

https://ardupilot.org/copter/docs/precision-landing-with-irlock.html

• If the “Heal” (meaining health) field is not “1” then there may be a communication issue between the Pixhawk and IR-LOCK sensor.
• If the “TAcq” (meaning Target Acquired) field is not “1” then the sensor is not seeing the target.
• The pX, pY values show the horizontal distance to the target from the vehicle.
• The vX, vY values show the estimated velocity of the target relative to the vehicle.
•  

AC_PrecLand

AP_IRLock

precision_landing.cpp

27行 ，rangefinder_alt_ok为true的时候，日志中TAcq pX。。。。等才有值。

调试遇到的问题：

i2c通信异常问题：Heal一直是0；解决方法：在pixy 设置参数Data out port为1；在pixhawk4连接missionplannar后将plnd_bus 设置为3；不同的pixhawk板子plnd_bus要设置不同的值，0，1,2,3.。。试试。通信正常后Heal就是1了。