Good afternoon,

I am curious to know how RTH works in the APM Rover system? Specifically, if RTH is engaged does the rover try to drive directly back to 'Home'?  Or does it return by reversing its original course up to that point in time?

It seems that if it tries to come directly back to home it could encounter many terrain barriers, and never be able to reach home.

Apologies if this is detailed in the wiki, I did do some searching but could not find the answer to these questions specifically.  I have been an APM, Pixhawk user for some time and am comfortable in planes/multirotors.  My idea is that a feature for plane/copter would be something I call 'Trackback RTH'. When this type of RTH is set on a flight the autopilot records internal waypoints at some configurable interval. Then if RTH is triggered the aircraft flies back through those waypoints in an attempt to reach home. 'Tracking back' the way it flew into the mission up to that point.

My scenario is flying up into a canyon. While you may be able to keep line-of-sight for some distance, there could still be topography in the way for a successful RTH. Canyon walls too steep for the aircraft to fly up and over even with terrain following configured properly. I am sure there are other parameters to make configuration behave, but I wanted to start with this basic idea.

Thank you for input.

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