Increase the rate of climb when the RTL phase begins

[Alberto_Ds]

Hi all,

I would like to increase the rate of climb when the RTL phase begins. Can I act on these parameters?

|WPNAV_SPEED_DN|150|cm/s|10 500|

|WPNAV_SPEED_UP|250|cm/s|10 1000|

I would like to increase the braking when I leave the sticks in POSHOLD, can I act on these parameters?

|PHLD_BRAKE_ANGLE|3000|

|PHLD_BRAKE_RATE|8|

Thanks

[amilcarlucas]

Yes, you can. It will do the job

[dkemxr (Dave)]

@Alberto_Ds

|PHLD_BRAKE_ANGLE|3000|

|PHLD_BRAKE_RATE|8|

You can but Loiter gives you a lot more parameters to tweak. I don’t use Position Hold anymore.

[Alberto_Ds]

Thanks Dave, do you remember which ones are the most useful?

[dkemxr (Dave)]

They all work together.

Page down to the bottom this link for some tuning tips:
https://ardupilot.org/copter/docs/loiter-mode.html