AUTO RTL refused: the mission has no return path or landing sequence
What ArduPilot says:
- Mode change to AUTO RTL failed: No landing sequence found
- Mode change to AUTO RTL failed: No return path found
- Mode change to AUTO RTL failed: No return path or landing sequence found
AUTO RTL is a way home through the mission: the copter joins the mission's return path (DO_RETURN_PATH_START) or jumps to its landing sequence (DO_LAND_START) and flies it in Auto. The mission in the copter has neither, so the mode was refused and the copter stays in its present mode. If a failsafe asked for it (action 6), the copter goes on to plain RTL: “Trying RTL Mode”.
What to do, most likely first
The mission was planned without
DO_LAND_START.CheckRead the mission back and look for the command.
FixAdd
DO_LAND_STARTright before the commands that bring the copter down, and upload again.The mission is gone:
MIS_OPTIONSbit 0 clears it at every reboot.FixUpload the mission after every power-on, or clear bit 0 so that it is kept.
Parameters to look at
| Parameter | What it is |
|---|---|
MIS_TOTAL | Total mission commands |
MIS_OPTIONS | Mission options bitmask |
FS_THR_ENABLE | Throttle Failsafe Enable |
FS_GCS_ENABLE | Ground Station Failsafe Enable |
BATT_FS_LOW_ACT | Low battery failsafe action |
BATT_FS_CRT_ACT | Critical battery failsafe action |
Where to do it:Mission Energy CheckSetup & Tuning Guide
The code that sends it
Mode change to AUTO RTL failed: No landing sequence found
ArduCopter/mode_auto.cpp ModeAuto::jump_to_landing_sequence_auto_RTL() · Open in ArduPilot Copter-4.7.1
Mode change to AUTO RTL failed: No return path found
ArduCopter/mode_auto.cpp ModeAuto::return_path_start_auto_RTL() · Open in ArduPilot Copter-4.7.1
Mode change to AUTO RTL failed: No return path or landing sequence found
ArduCopter/mode_auto.cpp ModeAuto::return_path_or_jump_to_landing_sequence_auto_RTL() · Open in ArduPilot Copter-4.7.1