RTL Not using RTL_ALT

ArduCopter Copter 4.0
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1

Hi there Everyone,

So I am using an indoor non-gps system for tracking ( Optitrack) I have working Loiter and automated modes like Circle.

I use the setorigin command in mayproxy to set home pos, but then when I try to use RTL, the copter tries to rise above the setting in RTL_ALT (set to 30cm). I can see in Misson planner that the copter hits 2M alt on the HUD ( and seems to be trying to climb more.)

I am working on a 2m indoor area so going up for RTL is not really an option.
I have insured all settings like Cone and and RTL_ALT_Final are set to 0 or disabled.

Any other ideas what setting RTL is trying to use?

Thanks.

2

Try Smart RTL - it will try to retrace the path already flown, with redundant sections removed.

What are all your RTL and Land parameters now?
RTL_ALT_TYPE ?

3

So a quick test of Smart RTL shows that the copter tried to go towards the home point but was still climbing on the way there.

I cant see why the copter would not follow the setting RTL_ALT at 30CM.

I’ll do some more tests today and put a log here.