Results of my week-end

Hello Everyone,

i have a question regarding the RTL function:

Does the copter usually fly a direct straight line when using the RTL or does it also fly larger curves ?

In my case, i have brought the copter further away and then switched to RTL.

In the end, it was first flying one curve with a radius of approx. 50m instead of going straight.

I had to bring it down manually due to this curve as it would have crashed on a public street otherwise.

Attached is a picture of the result (along with some more props which suffered this week-end).

I am really trying hard currently to get everything working, but up to now, i still see major issues unfortunately - starting to get also very costly in terms of spare parts...

Anyone got an idea if such curves are normal when using RTL ?




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  • Developer


         No, it should not fly curves when returning.  It should turn back to it's starting position, and fly straight home using the regular way point routines.  Once within the WP_RADIUS it will switch to loiter and then if you have auto land set (there's some parameter which controls this..maybe RTL_LAND?) it should land within about 20 seconds.

         Does Loiter work?  the way point navigation routines are a bit different from loiter..they include a cross track calculation which is meant to compensate for wind..there are also separate PID values that will need to be tuned..

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