SmartRTL was left part-way and one point of the return path was lost
What ArduPilot says:
- SmartRTL: lost one point
SmartRTL takes the points of the recorded path off the list one by one as it flies back. When you leave the mode before it reaches the point it was heading for, it puts that point back so the path stays whole. This time the path memory was full and the point could not be put back: the path is one point shorter there. A later SmartRTL will cut straight across that gap.
What to do, most likely first
The path memory was full at the moment you left SmartRTL.
Check
SRTL_POINTSis 300 by default.FixMind obstacles near that spot if SmartRTL is used again in this flight. For long flights raise
SRTL_POINTS(500 at most) and reboot.
Parameters to look at
| Parameter | What it is |
|---|---|
SRTL_POINTS | SmartRTL maximum number of points on path |
SRTL_ACCURACY | SmartRTL accuracy |
Where to do it:Setup & Tuning Guide
The code that sends it
SmartRTL: lost one point
ArduCopter/mode_smart_rtl.cpp ModeSmartRTL::exit() · Open in ArduPilot Copter-4.7.1