INAV Cleanflight Quadcopter AUTO TAKEOFF and LANDING TEST(2)01:55

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cleanflight inav(1.1 modify) tests auto takeoff and landing (sonar+baro version)

use sonar to adjust baro altitude, between 2cm~2.00m.
now take-off and landing performance is more acceptable.
don’t need to re-power to get BARO_ALT = 0.00m anymore!
next, try to take-off and landing two or four quadcopter at the same time and maybe can moving around.

hardware: mega2560,promini 328 + nRF2401 module+OTG cable+cell phone
software: android studio +[UsbSerial for android]+ arduino+[RF24 class for arduino] + MSP (Multiwii Serial Protocol)
inav :ANGLE+MAG+NAV POSHLOD+NAV ALTHOLD+GCS NAV+MSP

2212/980kv
10×45
11.1v/3S/2200mAh
M8N + H5883L (external)
FC:SRP_F3 (10 DOF)
SONAR HC-SR04
LED WS2812B
F450
ESC 20A,all N-FET, BLHELI 14.4 ,Damped light
Radio:AT9 + RD9(10CH.)

INAV Setup:
default PID
oneshot on
looptime = 1000
set nav_use_midrc_for_althold = OFF
set nav_extra_arming_safety = OFF
set nav_user_control_mode = CRUISE
set nav_mc_hover_thr = 1360
set alt_hold_deadband = 70

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    1. bing quadby

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