Radiolink Electronic Ltd
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(2) The final return altitude may be adjusted from 0 to 1000 centimeters.
3. RTL_LOIT_TIME: Time in milliseconds to hover/pause above the “Home” position before beginning final
descent.
The “Loiter” time may be adjusted from 0 to 60,000 milliseconds.
4. WP_YAW_BEHAVIOR: Sets how the autopilot controls the “Yaw” during Missions and RTL.
(1) 0 = Never change Yaw.
(2) 1 = Face Next Waypoint including facing home during RTL.
(3) 2 = Face Next Waypoint except for RTL (i.e. during RTL vehicle will remain pointed at its last heading)
5. LAND_SPEED: The descent speed for the final stage of landing in centimeters per second.
The landing speed is adjustable from 20 to 200 centimeters per second.
6. RTL_CLIMB_MIN: The vehicle will climb at least these many meters at the first stage of the RTL. By
default, this value is zero. (only Copter-3.3 and above)
7. RTL_SPEED: The horizontal speed (in cm/s) at which the vehicle will return to home. By default, this value
is zero meaning it will use WPNAV_SPEED. (only Copter-3.4 and higher)
8. RTL_CONE_SLOPE: Defines the slope of an inverted cone above home which is used to limit the amount
the vehicle climbs when RTL-ing from close to home. Low values lead to a wide cone meaning the vehicle will
climb less, High values will lead to the vehicle climbing more. (supported in Copter-3.4 and higher)
Notes
1. Other navigation settings also have an influence over RTL mode:
(1) WPNAV_ACCEL
(2) WPNAV_SPEED_DN
(3) WPNAV_SPEED_UP
2. To use RTL, GPS lock needs to be achieved (Blue GPS LED and Blue APM LED on solid not blinking)
before arming and takeoff to establish the home or launch position.
3. Landing and re-arming the copter will reset home, which is a great feature for flying at airfields.
4. If you get lock for the first time while flying, your home will be set at the location of lock.
5. If you set the RTL_ALT to a number at other than 0 it will go to and maintain that altitude while returning.
6. RTL uses WPNAV_SPEED to determine how fast it travels.
7. Once the copter arrives at the home location the copter will pause for RTL_LOIT_TIME milliseconds,
timeout (AUTO_LAND), then land.
3.6.7 Simple and Super Simple Modes
“Simple” and “Super Simple” modes allow the pilot to control the movement of the copter from the pilot’s point
of view regardless of which way the copter is facing. This is useful for new pilots who have not mastered
adjusting their roll and pitch inputs depending upon which way the vehicle is facing and for cases when the
copter is far enough away that its heading is not apparent.
(1) “Simple” and “Super Simple” modes can be used in combination with nearly all flight modes except the
Acro and Drift (in these flight modes the setting is ignored).
(2) Simple Mode allows you to control the copter relative to the copters heading at takeoff and relies only on a
good compass heading.
(3) Super Simple Mode allows you to control the copter relative to its direction from home (i.e. where it was
armed) but requires a good GPS position.
(4) Either mode can be assigned to a particular flight mode switch position or can be enabled/disabled from
the Ch7/Ch8 switches.
