Replies to This Discussion

Permalink Reply by Justin on December 11, 2011 at 3:09pm

are you switching using your transmitter switch
or the mode change command on the pc?

• ▶ Reply

Permalink Reply by Vernon Lillies on December 11, 2011 at 3:47pm

Both methods produce the same effect. 

• ▶ Reply

Permalink Reply by emile on December 11, 2011 at 3:59pm

If you are near the target (WP_RADIUS_DEFAULT = 3 meters), RTL switches automatically to LOITER.

This probably what you are experiencing.

Correct?

Emile

• ▶ Reply

Permalink Reply by Vernon Lillies on December 11, 2011 at 4:18pm

Thanks for your response Emile.

When I call upon RTL, my copter Loiters at its current location.

I just loaded arducopter 2.0.54 and I'm heading to the park to test it.

Update soon to follow. 

Vernon

• ▶ Reply

Permalink Reply by Vernon Lillies on December 11, 2011 at 7:04pm

Hi again,

I had a chance for another round of testing tonight with no improvement.

When I call upon RTL by either switching on my remote OR clicking the RTL button in Mission Planer, my copter enters loiter mode at its current location. 

I made a point to be at least 20 meters away from launch location before switching modes.

I believe my hardware is assembled correctly as I have had success with automated flight and RTL using arduplane on my easy star. 

From here I am going to upgrade to apm 2560 and see if this fixes the issue. This is good motivation for me to finally solder the board!

Doing a little more research, I noticed this very topic has been discussed in the issues tab in the wiki.

I am again open to suggestions.

• ▶ Reply

Permalink Reply by Justin on December 11, 2011 at 7:30pm

the home location is set when the APM boots up and GPS lock is obtained.

Therefore you must move away from home in order to observe RTL, otherwise it will go straight to LOITER..

case RTL:

if((wp_distance <= g.waypoint_radius) || check_missed_wp()){
   set_mode(LOITER);

what is the waypoint_radius set to?

• ▶ Reply

Permalink Reply by Vernon Lillies on December 11, 2011 at 7:41pm

Hi Justin,

Waypoint radius is set to 30m in Mission Planer.

If I understand correctly, you suggest that if I am within 30m range of my home location this will satisfy the condition for RTL and switch automatically to loiter mode?   

I expected it would act as it did with arduplane and loiter around my home location. i.e. make a 30m "circle" around my home location. Is this incorrect? 

What I am observing is when I call upon RTL, my copter loiters around its current location. 

• ▶ Reply

Permalink Reply by Justin on December 11, 2011 at 8:06pm

I'm not a user of ArduCopter but I imagine and as stated above by emile that the waypoint radius defaults to a much smaller value than ArduPlane since a frame can hover and move in any direction.

LOITER for a copter is going to be hovering, not orbiting.

Change the waypoint radius to 3m in APM then move away from "home" then try.

• ▶ Reply

Permalink Reply by Vernon Lillies on December 12, 2011 at 4:17pm

After changing way point radius and loiter radius to 3m, RTL mode works as intended.

Thanks for the help and happy flying

• ▶ Reply