FS RTH at too low speed error V2.1.0

[gabrielaltea]

Hello, thanks for you hard work on INAV I had a problem with the RTH and FS. In the first incident, flying between mountains, I lost LOS and video signal and control. At that moment I touched the RTH switch immediately. The quad has entered FS but it has not returned at the adjusted speed, it has done it at only 4 or 5 Km / h, entering and leaving FS, but in almost 4 minutes, it has only traveled 300 meters. Then when recovering video I took control and returned manually. In the second incident it was similar, but this time I turned off the transmitter, to avoid entering and leaving FS intermittently, on this occasion the quad also made FS / RTH at 4 or 5 km / h and it took almost 9 minutes to travel 500 meters, until the battery runs out. I have done some tests after the first incident, I have flown 1 kilometer and pressed the RTH switch, the quad has returned quickly to 35 Km / h. I also took the quad to 500 meters and turned off the transmitter, and the quad has turned quickly and has also returned to 35 km / h. I can not find the error in the configuration.

diff all

version

INAV/MATEKF722 2.1.0 Feb 10 2019 / 16:41:25 (0d3d0ff30)

GCC-7.3.1 20180622 (release) [ARM/embedded-7-branch revision 261907]

reset configuration to default settings

defaults noreboot

resources

mixer

mmix 0 1.000 1.000 1.000 1.000 mmix 1 1.000 1.000 -1.000 -1.000 mmix 2 1.000 -1.000 1.000 -1.000 mmix 3 1.000 -1.000 -1.000 1.000

servo mix

servo

feature

feature MOTOR_STOP feature GPS feature BLACKBOX feature PWM_OUTPUT_ENABLE

beeper

beeper -RUNTIME_CALIBRATION beeper -RX_LOST_LANDING beeper -BAT_CRIT_LOW beeper -GPS_STATUS beeper -ACTION_SUCCESS beeper -ACTION_FAIL beeper -MULTI_BEEPS beeper -DISARM_REPEAT beeper -SYSTEM_INIT beeper -ON_USB beeper -LAUNCH_MODE beeper -CAM_CONNECTION_OPEN beeper -CAM_CONNECTION_CLOSED

map

serial

serial 4 2 115200 57600 0 115200

led

color

mode_color

aux

aux 0 0 0 1300 2100 aux 1 1 0 1300 2100 aux 2 26 1 925 2100 aux 3 4 1 1700 2100 aux 4 3 1 1300 2100 aux 5 9 1 1700 2100 aux 6 8 2 1525 2100 aux 7 11 5 1400 2100

adjrange

adjrange 0 0 8 900 2100 12 8

rxrange

temp_sensor

osd_layout

osd_layout 0 1 12 0 H osd_layout 0 3 8 6 H osd_layout 0 4 8 6 H osd_layout 0 6 22 11 V osd_layout 0 9 1 9 H osd_layout 0 13 23 1 V osd_layout 0 15 12 5 V osd_layout 0 20 18 12 V osd_layout 0 21 0 12 V osd_layout 0 22 14 11 V osd_layout 0 23 2 0 V osd_layout 0 24 24 5 V osd_layout 0 25 22 5 V osd_layout 0 26 23 2 V osd_layout 0 28 23 11 H osd_layout 0 30 2 10 V osd_layout 0 32 11 0 V osd_layout 0 38 12 4 V osd_layout 0 40 1 2 V osd_layout 0 41 1 8 V osd_layout 0 42 1 9 V osd_layout 0 46 12 9 H osd_layout 0 54 11 1 V osd_layout 0 88 25 4 H

master

set looptime = 500 set align_gyro = CW270 set gyro_hardware_lpf = 256HZ set gyro_lpf_hz = 90 set gyro_stage2_lowpass_hz = 145 set align_acc = CW270 set acc_hardware = MPU6500 set acczero_x = 4 set acczero_y = -19 set acczero_z = -10 set accgain_x = 4091 set accgain_y = 4093 set accgain_z = 4031 set align_mag = CW270FLIP set mag_hardware = HMC5883 set mag_declination = -3800 set magzero_x = 10 set magzero_y = -114 set magzero_z = -49 set baro_hardware = BMP280 set pitot_hardware = NONE set rssi_channel = 16 set blackbox_rate_denom = 5 set motor_pwm_rate = 8000 set motor_pwm_protocol = DSHOT300 set failsafe_delay = 4 set failsafe_procedure = RTH set current_meter_scale = 240 set bat_voltage_src = SAG_COMP set model_preview_type = 3 set alt_hold_deadband = 80 set inav_reset_altitude = EACH_ARM set nav_use_midthr_for_althold = ON set nav_auto_speed = 1000 set nav_manual_climb_rate = 500 set nav_min_rth_distance = 200 set nav_rth_climb_ignore_emerg = ON set nav_rth_alt_mode = EXTRA set nav_rth_altitude = 600 set nav_mc_bank_angle = 26 set nav_mc_braking_bank_angle = 31 set osd_video_system = NTSC set osd_time_alarm = 16 set osd_alt_alarm = 200 set osd_dist_alarm = 1300 set osd_left_sidebar_scroll = ALTITUDE set osd_main_voltage_decimals = 2 set name = LaPolla

profile

profile 1

set mc_p_pitch = 45 set mc_i_pitch = 28 set mc_d_pitch = 40 set mc_i_roll = 28 set mc_d_roll = 35 set mc_d_yaw = 15 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 310 set dterm_lpf_hz = 75 set rc_yaw_expo = 70 set roll_rate = 60 set pitch_rate = 60 set yaw_rate = 50

battery_profile

battery_profile 1

set vbat_warning_cell_voltage = 360

battery_profile

battery_profile 2

battery_profile

battery_profile 3

restore original profile selection profile 1 battery_profile 1

save configuration

save

In this short video you can see the image of the OSD and the camera during those 4 minutes. At the beginning and at the end there is an image of FPV, in the middle you can only see the image of the camera, because of the loss of signal. https://youtu.be/rDCMPzwVZZ0

Thanks in advance for the help.

[gabrielaltea]

Sorry, I have posted in the wrong site. Please close this.