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RTH straight #4188
RTH straight #4188
Conversation
Awesome! |
@shellixyz How is this different than |
@teckel12 I believe |
Tested again today with 2.1 as base. All working fine Here is a demo video: https://youtu.be/RznTuZbgDLk Settings used:
|
Some diagrams to go with the existing ones would be useful I think. |
I had a go with this and got some strange behavior; the plane would pitch down and glide (as expected), but after a few seconds it would pitch up back to neutral and fly powered for a few seconds before pitching down again to repeat the cycle. My config: |
@expipiplus1 You probably need to tune ALTHOLD for your aircraft (altitude management PID loop settings
You're right |
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I updated the code to make it clearer. I wrote this last year and didn't realize it was so obscure. |
Just tried nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT at Yesterday development version. However, linear descent doesn't seem to work. When I enable RTH, it takes an immediate dive at what seems maximum down pitch angle, and stops only at 150 meters (nav_rth_altitude = 15000) as fast as it can while still far away.... Once it reaches 150 meters, it will continue RTH at 150 meters normally.... Plane: MiniTalon / R9M / MatekF722 here's the BB log And here's my diff. (stripped of useless OSD lines) This should be a great feature (once it works ;-).... Looking forward to be able to also have linear climb / descent during Waypoint missions as well. Thanks ! |
Same thing exactly today - diving until almost reaching nav_rth_altitude and then proceeding RTH @ nav_rth_altitude |
Yep, there seem to be a bug. See #4778 |
Update: 4-june See #4778 Be aware of steep dives in RC2 or earlier versions, if trying nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT |
The aircraft will go down linearly until hitting
rth_altitude
just before starting to circle above home if RTH was started aboverth_altitude
andrth_straight
is set toON