Couldn't understand about the QRTL

ArduPlane VTOL Plane
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1

Hello.

I read through the ardupilot documentation about QRTL and RTL, but couldn’t understand many things.

first,

https://ardupilot.org/plane/docs/qrtl-mode.html

in this page says
" If a pure VTOL QRTL is desired, then you must disable the fixed wing RTL and approach feature by setting Q_OPTIONS bit 16."

I looked through Q_OPTIONS, and the bit 16 is “Always use FW spiral approach-always use Use a fixed wing spiral approach for VTOL landings”

the description is not the disabling fixed wing apparoach.

too many things is ambiguous in the documentation.

2

That’s Q_OPTIONS bit 16, not Q_OPTIONS = 16 (which would be bit 4)
Bit 16 has a value of 65,536 and the documentation for that bit is:
DisableApproach-disable use of approach and airbrake stages in VTOL landing

3

Thanks, because My english ability is not good,

I thought “DisableApproach” means “Disabling Airbrake”

1 Like
4

You are reading plane documentations. For quad plane pure VTOL QRTL is not recommended, use hybrid RTL :- Return to Launch — Plane documentation

5

the documentation is about qrtl-mode / qoptions.

how can it be plane documentation?