RTL as explained by ardupilot.com: http://copter.ardupilot.com/wiki/flying-arducopter/flight-modes/rtl-mode/
So my understanding is that if the copter is below the default RTL altitude, it'll ascend, fly to the coordinates where it was armed, and then start to loiter. What happens after that? The page linked above says it'll "timeout and land", but I don't get how that's going to work exactly.
Does it mean that it'll loiter for a certain amount of time before coming in for an automatic landing? If so, do I need to configure anything in order for this to happen? My ArduPilot is running mostly on default params. Secondly, will manual pilot input during the loiter stage interrupt the timeout and cancel the automatic landing?
Replies
"Does it mean that it'll loiter for a certain amount of time before coming in for an automatic landing?
Yes - RTL_LOIT_TIME - It will loiter above the launch point for this time. (It's momentary at default)
If so, do I need to configure anything in order for this to happen?
You do not need to configure anything except the height it ascends to before the bird returns to the launch site at, as to be higher than its surroundings.
Secondly, will manual pilot input during the loiter stage interrupt the timeout and cancel the automatic landing?"
I do not think manual input will affect the RTL mission once the mode switch is set to RTL.
Per the page you linked:
"RTL_ALT_FINAL: The altitude the copter will move to at the final stage of “Returning to Launch” or after completing a Mission.