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
Oh wow, thanks for the info. So did this end up resolving the issue in real life, simulator, or both?
I had considered trying the different Q_RTL_MODE, but the description was not super clear to me. Sounds like I need to try that next, thank you.
Also wondering if I’m reading the Q_OPTIONS correctly, and do these ones matter…
You mentioned:
Q_OPTIONS = 2262048
001000101000010000100000
bit 5 - USE QRTL-instead of QLAND for rc failsafe when in VTOL modes
bit 10 - Disarmed Yaw Tilt-enable motor tilt for yaw when disarmed
bit 15 - ThrLandControl-enable throttle stick control of landing rate
bit 17 - EnableLandResposition-enable pilot controlled repositioning in AUTO land.Descent will pause while repositioning
bit 21 - Tilt rotor-tilt motors up when disarmed in FW modes (except manual) to prevent ground strikes.
My settings (default from Heewing):
Q_OPTIONS = 524320
10000000000000100000
bit 5 - USE QRTL-instead of QLAND for rc failsafe when in VTOL modes
bit 19 - CompleteTransition-to fixed wing if Q_TRANS_FAIL timer times out instead of QLAND
Q_RTL_MODE = 2 fixed my problems in real live AND SITL.
No matter where and in which direction the aircraft is flying, it makes a nice turn and flies toward the home point. There, it circles around the lhome point with Q_FW_LND_APR_RAD = 85 to slow down against the wind with Q_TRANS_DECEL = 1.3 and land cleanly without OVERSHOOT.
My goal is to choose Q_FW_LND_APR_RAD as small and low as possible in order to avoid obstacles such as trees, but large enough to be able to slow down without overshooting the target. And at my cruising speed, Q_TRANS_DECEL = 1.3 also works.
Q_OPTIONS are no longer relevant to your problem; I included them for the sake of completeness
