Go to shortest landing sequence OR the DO_LAND_START is in
Do users ask for this?
They ask for lots of other things
SmartRTL wasn’t doing the job
Can kind of have rally points with approach sequences
Several “safe” paths which vehicles can use at need
LUA could be used……
This does give predictable behaviour
This was essential for the OBC
RTL_AUTOLAND is a bad name?
Copied from Plane
RTL_AUTOLAND=2 for going to nearest
This would switch to auto mode
Which Randy doesn’t like
Use do-change-mode for coming straight home?
Use MAV_CMD_DO_RETURN_TO_LAUNCH for using DO_LAND_START?
New MRTL mode for mission-rtl where we use the mission
Multiple missions would be very cool
Buzz: A hypothetical new mode called AUTORTL or ARTL or MRTL or something, in plane that gets displayed in the GCS when a plane does a RTL with mission DO_LAND_START , instead of being called “AUTO” does give the plane user more info to understand whats going on.