RTL_ALT_FINAL with RALLY point on higher terrain

ArduCopter Copter 4.5
1

Hello,

When using RTL_ALT_FINAL > 0 when executing RTL to a rally point well above home point, the UAV does not reduce decend speed to LAND_SPEED, but continue to ground without stopping at LAND_SPEED_HIGH. With RTL_ALT_FINAL = 0, i get expected behaviour.

We have TERRAIN_ENABLED=1, RTL_ALT_TYPE=1, WPNAV_RFND_USE=0, RTL_ALT_FINAL = 1000, RTL_ALT_TYPE=1, LAND_ALT_LOW=1000, LAND_SPEED =35, LAND_SPEED_HIGH =250

I have tested with LAND_ALT_FINAL on 200,500,1000

On the test the rally point was approx 16 meters higher terrain than home.

IRL with Arducopter 4.5.2. With simulator on ArduCopter 4.7

PA:

2

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