Docking Approach Direction (DOCK_DIR)

Description

DOCK_DIR specifies the "Entry Vector" for autonomous docking.

Many docking stations (like a boat ramp or a specialized charging garage) can only be entered from one specific direction. If the rover approached from the wrong side, it would hit a wall or miss the latch. This parameter defines the required compass heading for the final approach leg.

• -1: Unset / No specific direction required.
• 0-360: Compass heading (e.g. 90 = East).

Tuning & Behavior

• Default: -1.
• Usage: Align your docking station and use a compass to find the required approach heading. The drone will automatically maneuver to line itself up with this vector before starting the final approach.

Dock Heading Correction Enable (DOCK_HDG_CORR_EN)

Description

DOCK_HDG_CORR_EN is used for precision docking where the vehicle must enter the dock from a specific direction (e.g. into a narrow charging slot).

If disabled, the vehicle flies directly from its current position to the dock's location. If enabled, the vehicle will first navigate to a "Capture Point" and then follow a straight vector (the "Docking Lane") to ensure it arrives perfectly squared up to the target.

• 1: Enabled. Vehicle attempts a straight-in head-on approach.
• 0: Disabled. Vehicle flies direct-to-target.

Tuning & Behavior

• Default: 0.
• Requirement: Requires the dock to provide its own heading information via MAVLink or a beacon.

Dock Heading Correction Weight (DOCK_HDG_CORR_WT)

Description

DOCK_HDG_CORR_WT fine-tunes the geometry of the docking path.

Dock Mode Speed Limit (DOCK_SPEED)

Description

DOCK_SPEED sets the "Approach Velocity" for autonomous docking.

In Dock mode (used for Rovers and Boats), the vehicle navigates to a precise coordinate or a MAVLink beacon to dock for charging or recovery. Because this requires high precision and safety, this parameter caps the speed to ensure the vehicle doesn't "over-shoot" the dock or cause a collision.

Tuning & Behavior

• Default: 0 (Uses the vehicle's standard cruise speed).
• Recommendation: Set to a very low value (e.g. 0.5 m/s or 1.0 m/s) to ensure a safe and controlled approach.
• Significance: Slower speeds allow the position control loops more time to react to external disturbances (like currents or uneven ground) as the drone enters the final docking phase.

Docking Target Stop Distance (DOCK_STOP_DIST)

Description

DOCK_STOP_DIST defines the "Final Proximity" for a successful dock.

This parameter tells the autopilot exactly when to call the mission "Complete" and shut down the motors. Because real-world vehicles have momentum, this sets the point at which the braking logic triggers to ensure the vehicle stops exactly at the target.

Tuning & Behavior

• Default: 0.3 meters (30 cm).
• Calibration: If your rover consistently hits the docking station too hard, increase this value. If it stops too far away and fails to engage the charging pins, decrease it.
• Accuracy: This requires a highly accurate position estimate (e.g. RTK GPS or a specialized docking beacon).