The mission ran out of commands: the plane returns home
What ArduPilot says:
- Reached RTL location
- Mission complete, changing mode to RTL
AUTO finished the last command of the mission and no landing ended it, so Plane switched to RTL: it flies home (or to the nearest rally point) and circles there at RTL_ALTITUDE (100 m by default) with the radius RTL_RADIUS, or WP_LOITER_RAD if that is 0. It keeps circling until you take over or the battery failsafe acts. “Reached RTL location” (4.6) is a return-to-launch command inside a mission arriving over home.
What to do, most likely first
You expected the plane to land at the end of the mission.
FixA landing has to be in the mission: an approach waypoint and a landing point as the last items. Or let RTL land through a landing sequence with
RTL_AUTOLAND.
Parameters to look at
| Parameter | What it is |
|---|---|
RTL_ALTITUDE | RTL altitude |
RTL_RADIUS | RTL loiter radius |
WP_LOITER_RAD | Waypoint Loiter Radius |
RTL_AUTOLAND | RTL auto land |
Where to do it:Mission Energy Check
The code that sends it
Reached RTL location
ArduPlane/commands_logic.cpp Plane::verify_RTL() · Open in ArduPilot Plane-4.6.3
Mission complete, changing mode to RTL
ArduPlane/commands_logic.cpp Plane::exit_mission_callback() · Open in ArduPilot Plane-4.7.1