Leaving the circle to fly the approach line into the wind
InformationPlane: take-off, landing, QuadPlanePlane only
What ArduPilot says:
- Starting VTOL land approach path
Part of the fixed-wing approach to a VTOL landing, used by RTL with Q_RTL_MODE 2 and by a VTOL_LAND item with Q_OPTIONS bit 4. The aircraft circles the landing point (radius Q_FW_LND_APR_RAD, or WP_LOITER_RAD when that is 0), descends to Q_RTL_ALT in RTL or to the item's altitude in a mission, and chooses the direction that lands into the wind. This line is sent when its heading is within 5° of the one on which to leave the circle; it then flies that line to the point, and the VTOL landing stages follow.
Parameters to look at
| Parameter | What it is |
|---|---|
Q_RTL_MODE | VTOL RTL mode |
Q_OPTIONS | quadplane options |
Q_FW_LND_APR_RAD | Quadplane fixed wing landing approach radius |
WP_LOITER_RAD | Waypoint Loiter Radius |
Q_RTL_ALT | QRTL return altitude |
The code that sends it
Starting VTOL land approach path
ArduPlane/commands_logic.cpp Plane::verify_landing_vtol_approach() · Open in ArduPilot Plane-4.7.1