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.
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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。