4.3.3 rtl terrain following issue


I tested mission with rtl using terrain following on the simulator, and clearly RTL no respected the ALT_OLD_RTL set at 5000cm…AGL

Approaching a cliff, plane RTL did not :

  • ask for the max tecs climb rate to get away from the top of the cliff respecting the 50m AGL…
  • asked to start climbing before…

= Finally “skimmed” the cliff at a height of 28m AGL.

All terrain params are set properly following the wiki plane terrain.

please check dataflash log here:
2023-02-05 23-24-19.bin

I remake the same simulation many times and I get random results from 15m to 30m…
Including putting the home point far away from the cliff.