Dive detection for Trackback RTH

[DarthPlasma]

Current Behavior

In case of a failsafe or switch-triggered RTH after or during a dive, the quad flyis back cutting through trying to blast through an eventual obstacle present

Desired Behavior

the quad should track back vertically up to the first point where the dive begins

Suggested Solution #1

add a "dive detection feature" deactivable that constist in three phases:

RTH_Trackback_divedetection = true

1) triggering the dive detection: conditions: pitch or roll down more than a preset angle RTH_Trackback_divedetection_dive_angle (default 50°, min 30 to 90) AND throttle below a preset value RTH_Trackback_divedetection_dive_throttle(default 20%, min = idle max = 40%) OR throttle below a preset valueRTH_Trackback_divedetection_drop_throttle (default 15% max 30%) OR throttle dips a predefined value in 1s (10ds) default = 30% RTH_Trackback_divedetection_drop_throttle_d

a Trackback point is recorded immediately

2) first phase operation (first 5 trackback points)

take 5 points every default 150cm (adjustable from min 100 to 250 cm) RTH_Trackback_divedetection_phase1_pointdistance, vertical or horizontal, the largest among the two triggers the point recording

3) second phase operation (the rest of the points till the termination of the dive)

take a point every default 400cm (adjustable from 300 to 600 cm) RTH_Trackback_divedetection_phase2_pointdistance

dive termination condition:

vertical speed > -300 cm/s (adjustable from -200 to -600 cm) RTH_Trackback_divedetection_termination_vario OR throttle above 40% (adjustable from 30 to 60% cm) RTH_Trackback_divedetection_termination_throttle

after this revert to normal trackback logging

increase trackback points from 50 to 80

Suggested Solution #2

Ad the possibility to choose to trigger phase 1 RTH (climb), this way using "EXTRA" will make the quad climb over the point of the dive, then switch to trackback RTH

Who does this impact? Who is this for?

All cinematic mountainf surfers with close-to-peak flights

[b14ckyy]

That's not a bug but a Waypoint navigation setting you can set. RTH trackback is basically a WP mission.

Enable the Enforce Altitude at Waypoint option by setting a Altitude tolerance greater than 0 (0 disables). This will make sure, that Altitude has priority over position and the quad will only continue to the next WP in the chain after the current waypoint altitude is reached. If this is set to 0 (default) the horizontal position only will be used as a confirmation trigger and the altitude changes are cut short.

this can be closed

[DarthPlasma]

Thank you!

[breadoven]

Just noticed this. Reopening because Enforce Altitude actually only works for WP missions, it won't work for RTH Trackback.

[DarthPlasma]

Maybe a simple Solution is to insert stage 1 failsafe (climb) bifore rth trackback