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jaspreeth / ardupilot-mega

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RTL is interpreted as LOITER #244

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
What steps will reproduce the problem?
1. Setting up RTL in CLI to any of the switch position
2. Futaba 12z
3.

What is the expected output? What do you see instead?
I expect RTL but I get LOITER instead

What version of the product are you using? On what operating system?
ArduPilotMega1.00 Beta November29. OSX 10.6.5 and OSX 10.5.8 and Windows Vista

Please provide any additional information below.
I set up flight modes to Manual, Stabilize, Auto and RTL. I use a Futaba 12Z 
radio. I have set up the switch ms exactly as described. I have tried with 3 
pos switch and dual rate modified 3 pos switch to give 6 positions.

All seems fine in CLI but if I check the modes in groundstation the RTL is 
displayed as Loiter. I have tried with two different APMs and the results are 
repeatable and the same every time. I have reset the APM in CLI many times. I 
have changed the Flight Mode Channel from default 8 to 7.

Auto stays as Auto

Stabilize stays as Stabilize

Loiter stays as Loiter

FWA and FWB work as should

but RTL always changes to Loiter when checked from GCS and in flight RTL does 
not return to launch.

Original issue reported on code.google.com by patrik.r...@gmail.com on 5 Dec 2010 at 6:21

GoogleCodeExporter commented 8 years ago 
I can confirm this in Flight Sim mode (GCS: XPLANE and GPS: IMU). Cannot 
confirm in regular flight mode (GCS: LEGACY, GPS: MTK).  Definitely a bug 
somewhere however.

Original comment by analogue...@gmail.com on 6 Dec 2010 at 2:31

GoogleCodeExporter commented 8 years ago 
RTL turn into a loiter when the waypoint distance has been hit... ie if you fly 
over home, and then do RTL it will go straight to loiter, if you do it 200 m 
from home and rtl, it will RTL until it hits WP radius, and then switch to 
Loiter

Original comment by Meee...@gmail.com on 6 Dec 2010 at 4:19

GoogleCodeExporter commented 8 years ago 
I'm wondering if this is a weird timing bug related to sending telemetry at 
high data rates (115k). I can't replicate at 38400 baud, but it does show up in 
the Flight Sim, which runs at 115k.

Original comment by analogue...@gmail.com on 6 Dec 2010 at 4:33

GoogleCodeExporter commented 8 years ago 
Turns out that this is just a nomenclature thing. RTL is switched to Loiter 
when you're within your home radius. We may change the naming, but this is not 
a bug that will affect performance.

Original comment by analogue...@gmail.com on 6 Dec 2010 at 6:50