How to Set Return to Home
1. Principles
Return to Launch (RTL) is a critical safety feature of the ArduPilot firmware. Once the UAV enters RTL mode, the flight controller (FC) automatically navigates to the takeoff point and lands or hovers according to preset parameters. RTL mode is typically triggered by a switch on the RC transmitter or the flight controller's failsafe.
Core Functions of RTL Mode:
Autonomous Return: When signal is lost or manually triggered, the aircraft automatically returns to the takeoff point.
Altitude Control: You can set the flight altitude during return to avoid colliding with obstacles.
Hover: You can set the aircraft to execute a hover command after reaching the takeoff point.
Applicable Scenarios:
Automatic safety protection when signal is lost
Quick return to takeoff point during testing
Automatic homing after long-distance flight
2. Equipment Preparation
1) Flight Controller: Any of the following flight controllers are compatible with this tutorial: CoreWing F405 WING V2, SpeedyBee F405 WING APP, or SpeedyBee F405 WING MINI.
2) Ground Control Station: Mission Planner.
3. Specific Operations
1. RC Transmitter Setup
Select a two-position switch
Navigate to the MDL/MIXES page and configure the mixer for CH6 (settings can be adjusted according to actual conditions, for reference only)
2. Enable RTL Switch Settings
Go to CONFIG/DEBUG
Go to ALL PARAMETERS
Search for RC6_OPTION
Set the value of RC6_OPTION to 4
Click Write Parameters
3. RTL Parameter Settings
Go to CONFIG/DEBUG
Go to ALL PARAMETERS
Search for
RTLModify the following parameters
Click Write Parameters
| Parameter | Value | Description |
|---|---|---|
| RTL_ALTITUDE | 100 | Return altitude, default 100, recommended 100 |
| RTL_AUTOLAND | 0 | Auto-land after return, recommended to disable |
| RTL_CLIMB_MIN | 0 | Minimum climb rate during return |
| RTL_RADIUS | 0 | Return hover radius, if set to 0, it matches the waypoint radius |
4. Q&A
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