Difference between Q_RTL_ALT_MIN and Q_RTL_ALT

ArduPlane VTOL Plane
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1

Hello.

I want to know the difference between Q_RTL_ALT_MIN and Q_RTL_ALT.

(1) Q_RTL_ALT Description : The altitude which QRTL mode heads to initially

(2) Q_RTL_ALT_MIN Description : If VTOL motors are active QRTL mode will VTOL climb to at least this altitude before returning home. If outside 150% the larger of WP_LOITER_RAD and RTL_RADIUS the vehicle will VTOL climb to Q_RTL_ALT. This parameter has no effect if the vehicle is in forward flight. Should be between Q_LAND_FINAL_ALT and Q_RTL_ALT

with this description, I can’t figure out the difference with this two parameters…

2

Q_RTL_ALT_MIN has been introduced in new versions of firmware, i have not used latest version yet with this parameter, but Q_RTL_ALT is the Altitude which QRTL mode heads to initially and Q_RTL_ALT_MIN is the final Altitude over home location before vertical decent.

3

but before, “final altitude over home loacation before vertical decent” was Q_RTL_ALT.

are you sure and tested with actual VTOL?