Discussions

Hello all!

I had a few quick questions here to validate some thoughts on expected RTL behavior for a heli/multi-rotor.

1. Where is home?

• Expected Answer: Where there GPS believes it was when the vehicle was armed.

2. Does home reset each time I re-arm the vehicle w/o a power cycle?

• Expected Answer: Yes

3. What is expected when I engage RTL?

• Expected Answer: The vehicle will rise to a pre-determined height then proceed to home on a path that is directly between its present position and home.

4. How does the autopilot determine its path home?

• Expected Answer: The vehicle will follow the shortest path home from its present position.

I ask these because I have had some missions where the RTL feature seems to be going the wrong way for a significant period of time (200m in distance) then smooth out and come home. Almost like it thought:

I'm at x-y and need to get to a-b.

Ill got to latitude A 1st then proceed down latitude A until I hit longitude B.

I'm assuming (but want to validate) this is not expected correct?

My procedure is to always allow the GPS to "settle" in MP before arming APM for the 1st time, so I know the "home" postition I have for APM is correct.

Thanks all!