Multicopter three-phase precision auto-landing

A non-transitory computer readable medium containing software that lands a multicopter on a landing platform, the software comprising:

• executable code that causes the multicopter to touch a portion of a sloped wall of the landing platform, wherein the sloped wall is formed in a cone;
• and
• executable code that causes the multicopter to slide along the sloped wall in a downward direction using gravity toward an opening formed in the landing platform at a smaller end of the cone that engages a protruding portion of the multicopter following the multicopter touching the portion of the sloped wall of the landing platform, wherein the protruding portion of the multicopter engages the opening to bring the multicopter to a resting position and wherein any bitangent line formed between an outermost point of the multicopter and points where the multicopter touches the walls of the base portion does not cross a propeller enclosure of the multicopter.