Lately my quad is acting weird when I end my mission with RTL. When the copter is reaching that last point in the mission, the copter acts as though it is on RTL mode (going back to home and lands), but it is still in auto mode.
Normally this wouldn’t matter, but I’m using a sensor that is running only when in Auto and shouldn’t operate in RTL.
The problem replicates in several missions and in several locations.
Log of this flight is attached, and a example mission that has this issue.
TestMission.3ds (Change to txt) (1.2 KB)
Log File (From today, but on a different mission than what I’ve attached):
On the code side: rtl_init() checks the EKF position - Which looks okay from the log. Other than that I couldn’t find anything that could stop the quad from going into RTL mode.
IMPORTANT NOTE: This version is has some changes over the 3.3.3 code - Although as far as I checked there isn’t any change that should affect the RTL mode.
What could cause the quad to not go into RTL?
(I’m not saying my code hasn’t caused a problem in RTL, but I’d appricate some pointers as of to where should I search for problems.)