Another Turnigy9x, APM2 & Arducopter 2.6 failsafe question

Given some of the horror stories of people losing quads I'm determined to be completely across the failsafe settings in APM2 so i've read most of the threads but after doing some testing I have one question.

I removed the props, dialled up the throttle (in stabilize mode) and switched off the transmitter and as expected the APM2 doesn't detect the loss of signal and remains in stabilze mode. So i updated the PPM encoder to .68 and now after dialling up the throttle and switching off the transmitter it transitions to RTL straight away however sometimes it then transitions to loiter.

How come it doesn't just stay on RTL?

I haven't actually moved it from the spot that I armed it, would that be way it changes to loiter?

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Permalink Reply by Jake Stew on June 19, 2012 at 8:18am

That's how RTL is supposed to work.  It returns, then loiters.


DeveloperPermalink Reply by Andreas M. Antonopoulos on June 19, 2012 at 8:49am

and after a certain time, may do an AUTO LAND too.

So it is Failsafe -> RTL -> LOITER (once overhead) -> 30sec -> LAND

That gives you time to re-establish contact while above you in LOITER, or it lands. 

Permalink Reply by Jake Stew on June 19, 2012 at 8:56am

I had no idea about the autoland.  Perhaps the docs should reflect this?

30 sec is not much time to trouble shoot.  I would probably be busy looking at my telemetry when the plane came in.  Could be quite a surprise for some people.

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