I'm using 2.7.3 and noticed a strange behavior in RTL. If you engage RTL and then when it gets near try to push it away or hold it from arriving, it will continue trying to come home and you have to use more forward pitch to resist it. Then when you stop pushing the stick forward to keep it away and just let go. It comes home like a rocket and doesn't seem to stop. It's like it's confused about what is level.
What I expected to happen was to have full control like in stable mode and if I let go of the stick after pushing it away from coming home then it would come back home the same way as it normally would.
This doesn't seem to be how it's working. I guess it hasn't been noticed because it's not a usual thing to do after you engage RTL but it seems the stick movement to counter the RTL is causing it get relevel.
It reminds me of the feeling when vibrations would cause the copter to get the leans so that level wasn't level any more.
Replies
It looks like there isn't much interest in exploring this. Not sure if I should post this somewhere else but at least it should be noted in the RTL flight mode that this can happen if you try to control the copter while it's in RTL mode.
Jason, do you think this should or could be corrected? I think it's counter intuitive for the user to think that his stick inputs would cause the I term to build up instead of navigate. Especially in a situation were you are trying to avoid an obstacle that sometimes isn't expected. I know you can switch to stable mode but in a pinch it might not be done fast enough and if you let go of the stick thinking it's going to sort of hover but instead comes racing towards you then that could be a dangerous situation. At least there should be something in the RTL notes saying to not touch the sticks in RTL mode.
I also use Arduplane and even though the situation is not then same since it circles over the home point, I have tried to fly while it's in that mode and it doesn't seem to do anything unusual.
That's the nav I term building up. It doesn't know the difference between your input and wind.
Jason
BTW, the only way I could recover from this was to quickly switch to stable mode because I was losing room in the forward pitch movement in RTL mode.