updated rtl parameter descriptions. #12470
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src/modules/navigator/rtl_params.c
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| * | ||
| * Altitude to fly back in RTL in meters | ||
| * Relative altitude above home at which the vehicle will return during RTL mode. |
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Perhaps "Default minimum altitude above home for return flight in return mode."
- Altitude above home is by definition relative.
- We're using Return mode in QGC. RTL is of course embedded in the psych!
src/modules/navigator/rtl_params.c
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| @@ -59,7 +60,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); | |||
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| /** | |||
| * Return mode loiter altitude | |||
| * Return to home relative loiter altitude. | |||
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Perhaps
Return mode loiter altitude (relative to home).
src/modules/navigator/rtl_params.c
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| @@ -89,11 +90,11 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30); | |||
| PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); | |||
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| /** | |||
| * Minimum distance to trigger rising to a safe altitude | |||
| * Maximum horizontal distance to home position below which vehicle will use | |||
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Much better but perhaps ...
Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return mode altitude.
If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG).
RomanBapst
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@hamishwillee Finally got a chance to update this. I liked your suggestions, please have a final look. |
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@RomanBapst I think I fixed all my complaints, but now you get to review those changes. |
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Note, the docs for RTL_TYPE=1 may also be incorrect. If you look at #13107 it indicate there is a mission check that says that you must have a landing patter defined in this case. If so, then the docs need to say that. |
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@hamishwillee I went over it once more and I'm generally happy. I was just a bit unclear about your last suggestion about changing two words, could you please elaborate? |
Signed-off-by: RomanBapst <[email protected]>
Signed-off-by: RomanBapst <[email protected]>
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@hamishwillee Oh crap, I did a rebase and forced pushed without pulling in your last changes :-/ |
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Gone :-( |
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FYI, this still needs thinking about
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@hamishwillee yes you are correct. a statement should be added to the docs for RTL_TYPE=1 saying soemthing along the lines of "If Mission Landing is selected as the Return Mode type, Mission Feasibility Checker on the autopilot will reject any missions uploaded without a valid landing pattern." Note that the requirements for a valid landing pattern are already defined in the docs in this same section. https://docs.px4.io/master/en/flight_modes/return.html#mission_landing_return |
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@RomanBapst I think this is OK to merge. We can revisit again when the rally points go in. |
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@hamishwillee Done. Thanks for your help on this one. |
Adjusted comments after adding support for RTL cone in #12382
@hamishwillee FYI