Plane: add climb-before-turn on RTL

ArduPlane/ArduPlane.cpp

@@ -503,7 +503,7 @@ void Plane::update_alt()
 
         float target_alt = relative_target_altitude_cm();
 
-        if (control_mode == &mode_rtl && !rtl.done_climb && g2.rtl_climb_min > 0) {
+        if (control_mode == &mode_rtl && !rtl.done_climb && (g2.rtl_climb_min > 0 || (plane.g2.flight_options & FlightOptions::CLIMB_BEFORE_TURN))) {
             // ensure we do the initial climb in RTL. We add an extra
             // 10m in the demanded height to push TECS to climb
             // quickly

ArduPlane/Parameters.cpp

@@ -1143,7 +1143,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB
+    // @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL.
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
 

ArduPlane/defines.h

@@ -152,6 +152,7 @@ enum FlightOptions {
     CRUISE_TRIM_THROTTLE = (1 << 1),
     DISABLE_TOFF_ATTITUDE_CHK = (1 << 2),
     CRUISE_TRIM_AIRSPEED = (1 << 3),
+    CLIMB_BEFORE_TURN = (1 << 4),
 };
 
 enum CrowFlapOptions {

ArduPlane/mode_rtl.cpp

@@ -19,20 +19,31 @@ void ModeRTL::update()
     plane.calc_nav_pitch();
     plane.calc_throttle();
 
-    if (plane.g2.rtl_climb_min > 0) {
+    bool alt_threshold_reached = false;
+    if (plane.g2.flight_options & FlightOptions::CLIMB_BEFORE_TURN) {
+        // Climb to ALT_HOLD_RTL before turning. This overrides RTL_CLIMB_MIN.
+        alt_threshold_reached = plane.current_loc.alt > plane.next_WP_loc.alt;
+    } else if (plane.g2.rtl_climb_min > 0) {
         /*
-          when RTL first starts limit bank angle to LEVEL_ROLL_LIMIT
-          until we have climbed by RTL_CLIMB_MIN meters
-         */
-        if (!plane.rtl.done_climb && (plane.current_loc.alt - plane.prev_WP_loc.alt)*0.01 > plane.g2.rtl_climb_min) {
-            plane.prev_WP_loc = plane.current_loc;
-            plane.setup_glide_slope();
-            plane.rtl.done_climb = true;
-        }
-        if (!plane.rtl.done_climb) {
-            plane.roll_limit_cd = MIN(plane.roll_limit_cd, plane.g.level_roll_limit*100);
-            plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -plane.roll_limit_cd, plane.roll_limit_cd);
-        }
+           when RTL first starts limit bank angle to LEVEL_ROLL_LIMIT
+           until we have climbed by RTL_CLIMB_MIN meters
+           */
+        alt_threshold_reached = (plane.current_loc.alt - plane.prev_WP_loc.alt)*0.01 > plane.g2.rtl_climb_min;
+    } else {
+        return;
+    }
+
+    if (!plane.rtl.done_climb && alt_threshold_reached) {
+        plane.prev_WP_loc = plane.current_loc;
+        plane.setup_glide_slope();
+        plane.rtl.done_climb = true;
+    }
+    if (!plane.rtl.done_climb) {
+        // Constrain the roll limit as a failsafe, that way if something goes wrong the plane will
+        // eventually turn back and go to RTL instead of going perfectly straight. This also leaves
+        // some leeway for fighting wind.
+        plane.roll_limit_cd = MIN(plane.roll_limit_cd, plane.g.level_roll_limit*100);
+        plane.nav_roll_cd = constrain_int32(plane.nav_roll_cd, -plane.roll_limit_cd, plane.roll_limit_cd);
     }
 }
 

Tools/autotest/ArduPlane_Tests/ClimbBeforeTurn/flaps.txt

@@ -0,0 +1,13 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.390015	1
+1	0	3	22	15.000000	0.000000	0.000000	0.000000	-35.361279	149.164230	30.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361229	149.163025	80.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364563	149.163773	80.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364384	149.164795	80.000000	1
+5	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.361027	149.164093	80.000000	1
+6	0	0	177	2.000000	3.000000	0.000000	0.000000	0.000000	0.000000	0.000000	1
+7	0	3	189	0.000000	0.000000	0.000000	0.000000	-35.362915	149.162613	60.000000	1
+8	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.363136	149.162750	60.000000	1
+9	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365467	149.164215	55.000000	1
+10	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.365009	149.165482	39.889999	1
+11	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.363041	149.165222	0.000000	1

Tools/autotest/arduplane.py

@@ -1594,6 +1594,57 @@ def deadreckoning(self):
     def deadreckoning_no_airspeed_sensor(self):
         self.deadreckoning_main(disable_airspeed_sensor=True)
 
+    def climb_before_turn(self):
+        self.wait_ready_to_arm()
+        self.set_parameter("FLIGHT_OPTIONS", 0)
+        self.set_parameter("ALT_HOLD_RTL", 8000)
+        takeoff_alt = 40
+        self.takeoff(alt=takeoff_alt)
+        self.change_mode("CRUISE")
+        self.wait_distance_to_home(500, 1000, timeout=60)
+        self.change_mode("RTL")
+        expected_alt = self.get_parameter("ALT_HOLD_RTL") / 100.0
+
+        home = self.home_position_as_mav_location()
+        distance = self.get_distance(home, self.mav.location())
+
+        self.wait_altitude(expected_alt - 10, expected_alt + 10, relative=True)
+
+        new_distance = self.get_distance(home, self.mav.location())
+        # We should be closer to home.
+        if new_distance > distance:
+            raise NotAchievedException(
+                "Expected to be closer to  home (was %fm, now %fm)."
+                % (distance, new_distance)
+            )
+
+        self.fly_home_land_and_disarm()
+        self.change_mode("MANUAL")
+        self.set_rc(3, 1000)
+
+        self.wait_ready_to_arm()
+        self.set_parameter("FLIGHT_OPTIONS", 16)
+        self.set_parameter("ALT_HOLD_RTL", 10000)
+        self.takeoff(alt=takeoff_alt)
+        self.change_mode("CRUISE")
+        self.wait_distance_to_home(500, 1000, timeout=60)
+        self.change_mode("RTL")
+
+        home = self.home_position_as_mav_location()
+        distance = self.get_distance(home, self.mav.location())
+
+        self.wait_altitude(expected_alt - 10, expected_alt + 10, relative=True)
+
+        new_distance = self.get_distance(home, self.mav.location())
+        # We should be farther from to home.
+        if new_distance < distance:
+            raise NotAchievedException(
+                "Expected to be farther from home (was %fm, now %fm)."
+                % (distance, new_distance)
+            )
+
+        self.fly_home_land_and_disarm()
+
     def rtl_climb_min(self):
         self.wait_ready_to_arm()
         rtl_climb_min = 100
@@ -2805,6 +2856,10 @@ def tests(self):
              "Test RTL_CLIMB_MIN",
              self.rtl_climb_min),
 
+            ("ClimbBeforeTurn",
+             "Test climb-before-turn",
+             self.climb_before_turn),
+
             ("IMUTempCal",
              "Test IMU temperature calibration",
              self.test_imu_tempcal),