Yaw toward home during RTL

ArduCopter Copter 3.4
1

Is there a way to have the quadcopter automatically yaw towards the home position when in RTL?

This would help with orientation when taking back control of the machine.

Please help me as I have tried setting WP_YAW_BEHAVIOR to values 1, 2, and 3 without result.

Thanks,

Paul

2

1 should work, 2 shouldn’t and 3 should sort of work as it’s facing along the GPS heading. 1 faces along the compass heading.

When I say 1 should work, it does for me. I’m using 3.4.5.

3

Mark,

Thanks for the tip. I just tried it again with the parameter set to 1. The quad did not yaw toward the home position when I invoked RTL.

Perhaps it has to be some minimum distance away from the home position? I was only about 50 feet away at the time.

Paul

4

That shouldn’t matter. Mine will travel a second and then yaw facing the home point. You might need to check and see if your compass is working properly.

5

Mark,

New result: Looks like it may be the same as you describe. My trip back to the home position is only about 50-100 feet, and it starts heading back in the same heading as it was at the time I invoked RTL. As it approached the home point, she came about. I think I understand it now.

Thanks,
Paul