The recorded way back is nearly full
What ArduPilot says:
- SmartRTL Low on space!
The path SmartRTL records has 9 or fewer free places left out of SRTL_POINTS. ArduPilot keeps tidying the path in the background, dropping points on straight stretches and cutting out loops, so the warning may clear by itself; it repeats every 10 s while space is short. If the path fills and no point can be added for 15 s, SmartRTL is switched off for the flight (“SmartRTL deactivated: buffer full”).
What to do, most likely first
A long flight with many turns: every change of direction needs a point, and straight flying needs few.
FixFor now, do not count on SmartRTL: keep ordinary RTL in mind, with a return height that clears everything on the straight line home. Before the next such flight raise
SRTL_POINTS(500 at most) and reboot.SRTL_ACCURACYis small, so the points are stored close together.Check
SRTL_ACCURACYis below its default of 2 m.FixUse 2 m, or more for flights in the open where the way back need not follow the way out closely.
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 Low on space!
libraries/AP_SmartRTL/AP_SmartRTL.cpp AP_SmartRTL::run_background_cleanup() · Open in ArduPilot Copter-4.7.1