[Paparazzi-devel] Reply to:"automated landing (address@hidden) (Marc)"

[Chris]

I am flying a Thunder tiger Cessna 177 Cardinal.
The normal way of landing has a problem when there is high wind.
The plane just stalls before touch down because the motor is turned off 
during the final phase
(below 10m)
<block name="final">
<exception cond="ground_alt + 10 > estimator_z" deroute="flare"/>
<go from="AF" hmode="route" vmode="glide" wp="TD"/>
</block>
<block name="flare">
<go approaching_time="0" from="AF" hmode="route" throttle="0.0" 
vmode="throttle" wp="TD"/>
<attitude roll="0.0" throttle="0.0" until="FALSE" vmode="throttle"/>
</block>

About the plane not shutting off it's motor if it touches down before 
"TD" this cannot happen because
when the plane touches down it still tries to maintain a -1 m/s climb 
rate so when it sees that
climb rate is 0m/s and not -1m/s it shuts down the motor in an effort to 
increase the descent rate.
Chris