RTL Altitude

Hey Guys, sorry for the probably repeated and simple question, I've done a fair bit of searching but I have yet to find an answer that explains this issue clearly.

When Ii enable RTL my plane heads to the Home point altitude, which is much lower than what i would like, how do I set an RTL altitude manually before the plane descends or begins to loiter?

I have seen code that would make the plane maintain its current alt and RTL at that height, that would be perfect but I have no idea where to find the file to edit the code, let alone how to do it :S

I would have thought this to be a simple parameter to change, any help is appreciated!!

thanks guys

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Replies

  • Hello,

    The issue is here https://github.com/diydrones/ardupilot/issues/39

    (and the code too)

    If you want to modify the code, becareful :

    It was created for the 2.68 version, but now in the last version name of variable has changed...

    With this code :

    IF Current ALT > Home ALT

    You KEEP the current ALT

    IF Current ALT <= Home ALT

    You CLIMB to the current ALT

    Is it that you are searching?

  • Hi,

    The ALT_HOLD_RTL param is what you are looking for. This is the alt. above home alt in centimeters that the plane will cruise home at. A negative value means "hold the alt that the plane was at when RTL engaged". Zero means home alt.

    The ascent or descent will be abrupt and limited only by min. and max. pitch angles set. If you want a smooth change, set a waypoint over or near home and use normal AUTO with that. This has, of course, the risk that if you engage auto to the WP with a hill between you and the plane, the plane might try flying through the hill. With the abrupt RTL behaviour this will only happen if home alt+ALT_HOLD_RTL is lower than the hill, or if the plane cannot (physically and within pitch limits) climb fast enough to clear it.

    Regards

    Soren

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