RTL -> QRTL immediately upon GeoFence Breach

ArduPlane
1

Community,

So I’m trying to configure my QuadPlane, in particular I’m trying to setup and validate the behavior for GeoFence breach.

I believed I have the p-ram’s setup accordingly. When I conducted the flight test, I breached the GeoFence, RTL was triggered, however, the AC immediately went into QRTL. I do not know why the AC B.Trans into QRTL outside the fence, well outside the RTL_RADIUS.

Previous testing of RTL behavior, when in FW mode, the AC did RTL and then B.Trans into QRTL when hitting the RTL_RADIUS. The expected and desired behavior. I want the same for fence breach.

Any insight into discerning why is appreciated. First time poster as well, so if I need to provide some files and like, please lemme know.

Cheers

2

Upon further review, I’ve discovered the AC determined: “RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL” How can I look up the RTL satisfaction requirements to see why this was triggered?