This flight includes three tests of the failsafe feature RTL (Return To Launch site).
This flight uses a flight plan with 4 waypoints.
When the aircraft is powered up, it sets the home point to that location. This location is then used as the ‘RTL’ destination that the aircraft aims for and loiters at. The ‘RTL’ target height is determined by the parameter ALT_HOLD_RTL which is 100m.
The aircraft took off in ‘Manual’ mode (orange) and was then switched to ‘Auto’ (yellow). It then navigated a path from the home point to the first and second waypoints. While on the way to the waypoint 3, I changed the mode using the transmitter to ‘RTL’ (blue). It returned and circled around the home point at an altitude of 100m.
I then changed the mode back to auto mode and the aircraft resumed doing the command list which was to fly to waypoints 3 and then 4 (purple).
After reaching waypoint 4, the aircraft executed the ‘RTL’ (red) command in the command list. Notice that the aircraft circles in a clockwise direction.
I changed mode to ‘FBW_’A (Stabilise) mode (orange) and flew out to test turning off the transmitter.
When I turned off the transmitter, the mode changed to ‘Circle’ mode (yellow) while in ‘Short Failsafe’ state for 20 seconds.
The mode then changed to ‘RTL’ mode (blue) when the state changed to ‘Long Failsafe’. The aircraft returned and loitered around the home point at 100m.
I then turned on the transmitter while still in ‘FBW_A’ mode (pink). I then changed to ‘Manual’ mode (red), descended and landed.
Play the video in the ‘Flight Files’ list below.
For this flight, the camera was on a fixed mount so the camera rolls and pitches with the aircraft.
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