COPTER: Adding RTL to SMARTRTL

[muramura]

Feature request

Is your feature request related to a problem? Please describe.

I made a random flight with SMARTRTL. I also flew near the takeoff point. I selected "SMARTRTL or RTL" for the battery fail action. The vehicle triggered the battery fail safe. This vehicle passed the takeoff point.

EX:

Describe the solution you'd like

I want to land the vehicle when it approaches the takeoff point while in reverse.

Describe alternatives you've considered

I would put the RTL region at the takeoff point. If the vehicle enters the RTL area while in reverse in SMARTRTL, switch the flight mode to RTL. I think this change would cover flight trajectories that do not intersect.

Platform [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine

Additional context

[rmackay9]

I guess it didn't detect the loop because the altitude was different?

[muramura]

@rmackay9 san. I accept.