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question about Return To Launch-RTL

Posted by Florin Mingireanu on September 28, 2010 at 12:51am
Hi there,

Where in the code can the altitude for Return To Launch- RTL be fixed?
What altitude does Ardupilot consider for Return To Launch- RTL?

What does the parameter #define AIRSPEED_RATIO 0.1254 do?
When should I increase it and when should I decrease it?

The code comment says: "If your airspeed is under-reporting, increase this value to something like .2 "
I do not understand what the code author meant by "under-reporting".

Thanks!

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Replies

  • Developer
    Doug Weibel September 28, 2010 at 4:48pm
    For RTL you can choose to have it return at whatever altitude it was at when you changed to RTL mode, or at a predetermined altitude. These parameters are written with the waypoints by the waypoint writer or configuration tool.

    AIRSPEED_RATIO is used to adjust the sensitivity of the differential pressure sensor. If your airspeed is consistently reading high or low (make sure you account for head/tail winds before deciding this) then probably your pitot/static setup is not optimal. You can compensate by changing this parameter.
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