I try simulate RTL in heavy wind, when wind speed more than cruise speed. In this condition plane newer return to home. Is it possible to fix this problem? May be AP must use groundspeed too in RTL mode and if ground speed is negative or about zero AP must increase cruise speed to fly faster?
There is a parameter called MIN_GNDSPD_CM to fix these situations.
I rally can recommend playing with this parameter. It works fine in real world as well.
Hope this helps.
thank you! try this in sitl, but it not work. Plane still stay at point when i simulate wind 22m\s and cruise speed 22m\s and MIN_GNDSPD_CM=1000