We are flying a commercially built electric helicopter that uses a Cube Orange Plus on AC 4.3.6. (It’s controlled so I can’t do updates until the manufacturer gives me the go-ahead). We did a series of flights yesterday each ending with an RTL. On the last flight the heli hovered over the home point for about 20 seconds before descending. Normally it was about 5 seconds per the configuration. (RTL_LOIT_TIME, 5000).
I’ve checked RC inputs, there were none. GPS looked good. I’ve looked at EKF and didn’t see anything odd. Vibrations are peaking below 10, and average below 5.
I don’t have permission (yet) to share the log file, so I was hoping that somebody could tell me what the trigger for the RTL descent point is so I can work backwards to see what was going on.