@lowlyelevated wrote:
Hello all, I have a question regarding how the RTL/QRTL handover behaves when hovering at low altitude.
The aircraft of todays issue is a tiltrotor quadplane running firmware 4.0.5. After a long flight in AUTO mode, the aircraft was hovering to landing using a VTOL_Land mission item. However, the landing position was slightly off from desired, so the aircraft was switched to Q_Loiter to be landed manually.
At this point, the critical battery failsafe engaged, and put the aircraft into RTL at around 5ft off the ground. We do have Hybrid RTL enabled, and the aircraft was within the Q_RTL_Radius at this time.
I would expect, in this case, for it to simply enter Q_RTL and continue landing on it’s own with little issue.
However, instead, the aircraft entered “normal” fixed wing RTL for a brief moment, and began moving forward as if to transition to forward flight. It then changed to QRTL, went back to a hover, and landed.I was able to replicate this behavior in SITL/Realflight sim testing, so it’s not a one-time thing. Any time I click “RTL” while hovering within the Q_RTL_Radius, the aircraft lurches forward in fixed wing RTL, then returns to Q_RTL and hovers back to landing. Since failsafes also switch to RTL mode, the same behavior would apply to any conceivable failsafe RTL occurrence, no?
Is this the normally expected behavior for Q_RTL? Is this correct? It seems dangerous to leave as-is. The aircraft luckily didn’t crash this time, but shooting off forward unexpectedly during a landing/hover could have some serious consequences depending on what it’s pointing at, not to mention crashing the plane. Any help is appreciated.
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