Anyone know of code work for a command to follow original way points back to the launch point instead of a straight line like RTL does?
I’ve done searches on various groups and sites looking for anything like this, no luck. Appreciate any pointers to code work in this area.
Or, is this already doable and I’ve totally missed how to do this in APM:Plane
Here is my idea for the new command/function and how it came about.
Concept for new APM command/function: Reverse Course to Launch (RCTL)
This idea came about after a year long closing on a river valley road. Undetected river erosion on a wooded embankment causing the road to sink. The only way it could have been detected would have been eyes on the river doing inspections along the shore.
A UAV flying the the river course filming the area for later review (or live) could have given an early warning to this and other potential concerns. The challenge in this example is a winding river with small hills, cliffs, wooded shore line and the river itself being narrow. At times the river valley less then 1000 ft wide. To be effective a UAV would need to fly at 100-200 ft. AGL over the river.
That’s the scenario and this is where a reverse course comes into play. With current APM software an issue of a normal RTL or a FAILSAFE occurring the UAV would need to climb to 900+ ft. to make a safe return to launch, and; putting it in a different airspace.
Reverse Course would execute a 180 degree turn and follow previously passed way points back to the launch point.
This function also would benefit APM:Rover and could make it useful in watercraft on rivers.
Reverse could also be a programmed to execute based on other factors such as battery condition, time, distance covered, or on command.
Thanks for looking.