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fix(navigator): rtl compute wind angle to select best land approach based on rally point location instead of home location (#27004)

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Jonas Perolini
2026-06-04 05:55:31 +02:00
committed by GitHub
parent af2e16cd7e
commit 50c57be15f
12 changed files with 1369 additions and 164 deletions
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10
docs/en/flight_modes/return.md
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@@ -92,7 +92,11 @@ In this return type the vehicle:
- If the destination is a mission landing pattern it will follow the pattern to land.
- If the destination is a rally point or home it will [land or wait](#loiter-landing-at-destination) at descent altitude (depending on landing parameters).
By default an MC or VTOL in MC mode will land, and a fixed-wing vehicle circles at the descent altitude.
A VTOL in FW mode aligns its heading to the destination point, transitions to MC mode, and then lands.
A VTOL in FW mode can first fly a _VTOL approach loiter_ associated with that destination.
A _VTOL approach loiter_ is a [MAV_CMD_NAV_LOITER_TO_ALT](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LOITER_TO_ALT) item that the vehicle uses to descend to the approach altitude.
For upload details, see [VTOL Fixed-wing Mode Return](../flight_modes_vtol/return.md#fixed-wing-mode-fw-return).
If several approach loiters are defined for the destination, PX4 chooses the most wind-aligned one. It then flies from the approach loiter to the destination point, transitions to MC mode at the destination, and lands.
::: info
Fixed wing vehicles commonly also set [MIS_TKO_LAND_REQ](#MIS_TKO_LAND_REQ) to _require_ a mission landing pattern.
@@ -198,7 +202,8 @@ The default landing configuration is vehicle dependent:
- Fixed-wing vehicles use a return mode with a [mission landing pattern](#mission-landing-pattern), as this enables automated landing.
If not using a mission landing, the default configuration is to loiter indefinitely, so the user can take over and manually land.
- VTOLs in MC mode fly and land exactly as a multicopter.
- VTOLS in FW mode head towards the landing point, transition to MC mode, and then land on the destination.
- VTOLs in FW mode head towards the landing point, transition to MC mode, and then land on the destination.
If a VTOL approach loiter is defined for a rally point or home location, the vehicle uses that loiter to reach the approach altitude, then flies to the destination before back-transitioning.
## Mission Landing Pattern
@@ -220,6 +225,7 @@ The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced
| <a id="RTL_LAND_DELAY"></a>[RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically). |
| <a id="RTL_MIN_DIST"></a>[RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. |
| <a id="RTL_CONE_ANG"></a>[RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
| <a id="RTL_APPR_FORCE"></a>[RTL_APPR_FORCE](../advanced_config/parameter_reference.md#RTL_APPR_FORCE) | [VTOL FW only] If set, home or rally-point RTL destinations are only considered when a valid VTOL approach loiter is defined for that landing location. Mission landing patterns are unaffected. |
| <a id="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
| <a id="RTL_LOITER_RAD"></a>[RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |