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Plane: implement RTL_CLIMB_MIN parameter #14371
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test flew today....set RTL_CLIMB_MIN to 30.....never appeared to be invoked....here is a log: https://www.dropbox.com/s/lwr7g632diuusdh/RTL_CLIMB_MIN_TEST.bin?dl=0 |
Excellent, thought this got forgotten about ! |
I would also say any reference to Altitude would cripple its effectiveness as even flat looking fields could have 20 mtr height change - Has to be a timed wings level climb and which will get you out of any situation that a half sensible pilot could have a Failsafe in. |
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this allows for an initial climb on RTL where roll is limited to LEVEL_ROLL_LIMIT
thanks, I've fixed it. It only worked on the first RTL, which you did on the ground. I had forgotten to reset the flag on each new RTL |
ok, so why does this mean it has to be a time? Just set RTL_CLIMB_MIN=20 and it will guarantee to climb 20m from whatever alt you are at when you enter RTL before it turns. |
@tridge Thanks...will test fly again Sunday...rain tomorrow....I think the way its currently defined is optimum myself in terms of complexity vs solving the tree surfing/canyon diving issues... |
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Provided it max climbs from current Altitude it will make no difference if that is Timed or measured :) I saw "RTL_CLIMB_MIN to 30" and assumed that meant 30mtr ALT, if it had said RTL_CLIMB_MIN to +30 I would have understood what was happening. |
ha-ha there was mine too thx a lot! still would be nice to allow at least 10sec forward flight before start turning |
yep, this will allow us to close a few issues :-) |
test flew today...working now ....I dont have the terrain to try it with terrain following....I am going to ask if someone on RCG would like to try it and I will send him code for his FC based on Stable+this PR....but I dont see why this cant be merged now |
thanks for testing Henry! |
this allows for an initial climb on RTL where roll is limited to
LEVEL_ROLL_LIMIT