iNav 9.0.1 Fixed Wing Autoland – help tuning descent profile / landing point

[lolo733]

Hello,

I'm currently tuning iNav 9.0.1 Autoland on a SkySurfer fixed-wing aircraft and I'm struggling to obtain a landing profile that works reliably with my landing-site constraints.

The aircraft itself flies correctly and the Autoland sequence works: wind estimation, selection of the landing direction, approach and final descent.

My main difficulty is the vertical profile and touchdown position.

My landing point must remain fixed because I need the system to be able to select either landing direction depending on the wind.

During wind estimation the aircraft is currently at about 45 m. With my present settings, after leaving the turn and becoming established on final, the aircraft is still around 33 m high.

I would like it to leave this turn and become established on final at approximately 25 m, so that it has enough distance to descend correctly and touch down before reaching the LAND point, rather than arriving too high and landing too long.

I don't want to move the LAND point, because doing so would make the opposite landing direction unsuitable.

Current relevant parameters include:

"nav_fw_land_approach_length = 18000"

"nav_fw_land_dive_angle = 2"

"nav_fw_land_final_approach_pitch2throttle_mod = 150"

The main question is therefore:

Which Autoland parameter(s) should be adjusted to make the aircraft descend more during the approach, so that after the final turn it is around 25 m instead of ~33 m, without moving the LAND point and while keeping both landing directions usable?

I'm particularly interested in understanding the interaction between approach altitude, approach length, dive angle, glide phase and "nav_fw_land_final_approach_pitch2throttle_mod".

If anyone has tuned Autoland under similar constraints, I'd be interested in your settings and experience.

I can provide the complete CLI "diff all", Blackbox/log and a screenshot of the landing trajectory if useful.