I’m flying a Heewing T2 Cruza with Ardupilot V4.4.2 and having trouble getting the RTL to behave the way we expect.
On an auto mission we hit a Fence Breach (which was expected), but the behavior was that it switched out of into RTL to QRTL very quickly, about the time it takes to make the transition to quad….basically no RTL.
It then proceeded to QRTL away from launch rather far about 200m, before turning around and returning to launch before we regained FBW. The going away from home was unnerving.
We expected “hybrid RTL”:
“The another options for RTL in a QuadPlane are to fly as a fixed wing aircraft until it is close to the return point at which time it switches to VTOL QRTL mode and land vertically at the return point. To enable this type of hybrid RTL behavior you need to set the Q_RTL_MODE parameter to 1, 2, or 3.”
We would like the T2 to stay in plane mode and return closer before QRTL. Also puzzled why it took 200m or so to change course
Relevant settings are:
Q_RTL_MODE = 1
RTL_RADIUS = 0
WP_LOITER_RAD = 30
FENCE ACTION = 1
FENCE RADIUS = 300
QRTL_MODE = 1
Happy to provide more details/log info. Thanks in advance.
-Seb
