QRTL Mode

QRTL mode (QuadPlane Return To Launch mode) navigates QuadPlane from its current position to hover above the home position and then land. The behavior of QRTL mode can be controlled by several adjustable parameters. This page describes how to use and customize QRTL mode.

Overview

When QRTL mode is selected, the QuadPlane will return to the home location. The QuadPlane will immediately navigate towards the home location at Q_WP_SPEED, climbing or descending towards the Q_RTL_ALT altitude. Once arriving within Q_WP_RADIUS distance of home, it will begin descending at Q_WP_SPEED_DN rate, until it reaches Q_LAND_FINAL_ALT at which point it will descend at Q_LAND_SPEED until landing.

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Alternatively, you may configure the plane to return to a Rally Point, rather than the home location.

Warning

“Home” position is always supposed to be your Plane’s actual GPS takeoff location:

  1. It is very important to acquire GPS lock before arming in order for QRTL, QLOITER, AUTO or any GPS dependent mode to work properly. This requirement is provided in the default arming checks. It is highly recommended that this check is not disabled.
  2. For QuadPlane the home position is initially established at the time the plane acquires its GPS lock. It is then continuously updated as long as the autopilot is disarmed.
    • This means if you execute an QRTL in QuadPlane, it will return to the location where it was when it was armed - assuming it had acquired GPS lock.
    • Consider the use of Rally Points to avoid returning directly to your arming point on QRTL

Warning

In QRTL mode the autopilot uses a barometer which measures air pressure as the primary means for determining altitude (“Pressure Altitude”) and if the air pressure is changing in your flight area, the copter will follow the air pressure change rather than actual altitude.

Notes

  • Landing and re-arming the QuadPlane will reset home, which is a great feature for flying at airfields.
  • If you get lock for the first time while flying, your home will be set at the location of lock.