How to know when in RTL in a mission?

ArduCopter
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1

Goodmorning, for a project of mine, i’m reading the mavlink stream with an esp32 LoRa capable board. I need to know when the copter goes in RTL mode and for that i’m listening for the heartbeat which gives me the current autoPilot mode via heartbeat_int.custom_mode. So far so good, however i found that when the copter is in auto mode, with a mission that has RTL as the last waypoint, the mode does NOT switch to RTL but remains in AUTO. Is this correct? am i doing something wrong? To be precise, if i use the radio, whenever i change the flight mode i see it with my code, so that is working.
I also understand that remaining in auto mode could be considered the correct behaviour, but then, how can i reliably know when the copter is in RTL mode while in AUTO?

Thank you very much guys

2

Compare the location in POSITION_TARGET_GLOBAL_INT and HOME_POSITION (maybe not == due to conversions but it will be really close). Home location can also be found at the 0th index of the waypoint list.

3

Thank you for your suggestion, however that is not what i need. I need to know when drone is coming back to RTL postion. I am already able to calculate distance frome home with that information. Now i need to know when i am executing RTL

Thanks anyway

4

This is exactly what you need.
When vehicle switch to RTL in auto mode, POSITION_TARGET_GLOBAL_INT contains the home location’s latitude, longitude and the vehicle will fly to the home location.

Probably you’re referring GLOBAL_POSITION_INT by saying that.
What I’m saying is POSITION_TARGET_GLOBAL_INT.

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5

Oh, i see, now i understand, thank you. That is indeed the solution to my problem. I’m going to implement it next week

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