Can any one explain what is the actual purpose of RTL_CONE_SLOPE parameter in copter 3.4 release, Randy have already mentioned in http://diydrones.com/profiles/blogs/copter-3-4-beta-testing-starts/. But can anyone explain,how it reacts when system is taken into RTL mode or any one experimented flights with this parameter ?

See if this helps: https://github.com/ArduPilot/ardupilot/pull/3438 (the yellow star is a copter showing what happens if it was in that position).


There’s also a one line description on the RTL wiki page: http://ardupilot.org/copter/docs/rtl-mode.html#rtl-mode
The high level purpose is to stop the vehicle from climbing unnecessarily high when it perform the first stage of RTL. The first stage of RTL is to “climb to a safe altitude” which is held in the RTL_ALT parameter.

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Is there a way to enable the throttle during RTL so that we can drop the drone manually in altitude on the way home?


No. You would have to switch modes.

So where can I put in a feature request?

We use this every time on DJI products (phantom) and it’s very useful.

Same answer in the other thread you started on the same topic.


No, I’m afraid not. It’s been requested a few times to allow altitude control during RTL mode and with some luck perhaps it will be included in Copter-4.1 as part of “S-curves”.