A failsafe let the mission go on, because the landing is closer that way
What ArduPilot says:
- Rejecting RTL: closer land if mis continued
A battery failsafe wanted to turn back or go to the landing approach, and ArduPilot kept flying the mission instead. With MIS_OPTIONS bit 1 set it adds up two distances: to the landing along the rest of the mission, and to the landing by way of the nearest DO_LAND_START. When carrying on is no longer than turning to DO_LAND_START, the mission goes on to its landing. The line is sent at the moment of that decision.
The sum counts waypoints only. A mission with a loiter that never ends, or with no landing after the current item, cannot be measured, and the failsafe then acts as usual.
Parameters to look at
| Parameter | What it is |
|---|---|
MIS_OPTIONS | Mission options bitmask |
RTL_AUTOLAND | RTL auto land |
BATT_FS_LOW_ACT | Low battery failsafe action |
BATT_FS_CRT_ACT | Critical battery failsafe action |
Where to do it:Mission Energy Check
The code that sends it
Rejecting RTL: closer land if mis continued
libraries/AP_Mission/AP_Mission.cpp AP_Mission::is_best_land_sequence() · Open in ArduPilot Copter-4.7.1