RTL to wrong location

ArduCopter Copter 3.4
1

I had an incident yesterday when after turning on RTL my quad has returned to a location which was off by about 13m. I had telemetry turned on, so captured both logs and mission.

rtl-mission.png1054×720 179 KB

rtl-ntun.png1280×984 50.5 KB

From what I see (DPosX, DPosY, telemetry replay) it understood that it was way off from the home point. Why it didn’t return to it? The previous RTL on the same mission had both DPosX and DPosY zero after RTL).

Link to dataflash log: https://onedrive.live.com/redir?resid=5591523E73255C49!122232&authkey=!AOghqhVYfYTvX9o&ithint=file%2Clog

2

Maybe one of these ??

http://ardupilot.org/copter/docs/common-rally-points.html?highlight=rally

3

No, I don’t use rally points.

4

but are you sure there aren’t rally points defined ? It’s a point to check. Been there, happened to me :frowning:

5

Do you know how to check this after the fact (using tlog or dataflash)? I actually haven’t flown with GCS enabled at all previously, only used MP to troubleshoot/configure while not airborne.

6

Screen Shot 2016-05-09 at 15.14.54.png2174×1396 634 KB

7

Right now I don’t have anything in copter, it says nothing to download when I try to download them. I wonder if presence of rally points can be somehow verified using tlog or dataflash logs. Do you know?