Originariamente inviato da ClaudioALPHA21
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Mi dispiace contraddirti ma non è proprio così!!!
RTL sta per ..
Direttamente dal WIKI di arducopter :
Return To Launch (RTL) Mode
When RTL mode is selected the copter will:
climb to a minimum altitude of 15m
turn and return towards home
hover above home for 5 seconds
descend to 2m and switch to Loiter mode or land if RLT_ALT_FINAL = 0 or if in failsafe
Settable parameters
RTL_ALT : The minimum altitude (in cm) at which the copter will fly home. Default is 1500cm (=15m). If zero the copter will return at it's altitude at the time RTL was invoked.
RTL_LOIT_TIME : upon reaching the home position, the time (in milliseconds) to wait before descending to the RTL_ALT_FINAL.
RTL_ALT_FINAL : the altitude above the home position to loiter at waiting for pilot to retake control, or set to 0 to automatically land.
Notes
RTL position is set when the APM is armed.
To use RTL, GPS lock needs to be achieved (Blue GPS LED and Blue APM LED on solid not blinking) before arming and takeoff to establish the home or launch position.
Note on the UBLOX GPS module the LED is off while acguiring satellites and on blinking when satellites have been acquired.
Landing and re-arming the copter will reset home, which is a great feature for flying at airfields.
If you get lock for the first time while flying, your home will be set at the location of lock.
RTL uses the WP_SPEED parameter (speed in cm/s) to determine how quickly it travels on it's way home.
You may retake control from the autopilot by switching your flight mode. If RTL was initiated by a failsafe and thus your flight mode switch is already in the position that you want to fly in (i.e. stabilize) you should momentarily switch your flight mode switch to another position and then back again.
as mentioned above the final step of RTL is switch to loiter or LAND. If it is configured to switch to loiter please note this is regular Loiter mode which allows the pilot to control the altitude with the throttle stick so you must beware of the throttle position at the end of RTL.
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