rtl_params.c File Reference

Parameters for RTL. More...

Functions
	PARAM_DEFINE_FLOAT (RTL_RETURN_ALT, 60)
	RTL altitude. More...
	PARAM_DEFINE_FLOAT (RTL_DESCEND_ALT, 30)
	Return mode loiter altitude. More...
	PARAM_DEFINE_FLOAT (RTL_LAND_DELAY, -1.0f)
	Return mode delay. More...
	PARAM_DEFINE_FLOAT (RTL_MIN_DIST, 5.0f)
	Minimum distance to trigger rising to a safe altitude. More...
	PARAM_DEFINE_INT32 (RTL_TYPE, 0)
	Return type. More...

Detailed Description

Parameters for RTL.

Author

Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Function Documentation

PARAM_DEFINE_FLOAT() [1/4]

PARAM_DEFINE_FLOAT	(	RTL_RETURN_ALT	,
		60
	)

RTL altitude.

Altitude to fly back in RTL in meters

m 0 150 1 0.5 Return Mode

PARAM_DEFINE_FLOAT() [2/4]

PARAM_DEFINE_FLOAT	(	RTL_DESCEND_ALT	,
		30
	)

Return mode loiter altitude.

Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.

m 2 100 1 0.5 Return Mode

PARAM_DEFINE_FLOAT() [3/4]

PARAM_DEFINE_FLOAT	(	RTL_LAND_DELAY	,
		-1.	0f
	)

Return mode delay.

Delay after descend before landing in Return mode. If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.

s -1 300 1 0.5 Return Mode

PARAM_DEFINE_FLOAT() [4/4]

PARAM_DEFINE_FLOAT	(	RTL_MIN_DIST	,
		5.	0f
	)

Minimum distance to trigger rising to a safe altitude.

If the system is horizontally closer than this distance to home it will land straight on home instead of raising to the return altitude first.

m 0.5 20 1 0.5 Return Mode

PARAM_DEFINE_INT32()

PARAM_DEFINE_INT32	(	RTL_TYPE	,
		0
	)

Return type.

Fly straight to the home location or planned mission landing and land there or use the planned mission to get to those points.

0 Return home via direct path 1 Return to a planned mission landing, if available, via direct path, else return to home via direct path 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path Return Mode