The aircraft flew past the landing point, or is pointing away from it

What ArduPilot says:

• VTOL Overshoot d=N.N cs=N.N yerr=N.N

In position1 (the stage of a VTOL landing where the lift motors carry the aircraft and brake it) ArduPilot found that it is no longer closing on the landing point (cs, the closing speed in m/s, is negative) or that the nose is more than 60° off the direction to the point (yerr, in degrees). It drops the planned braking, turns the nose to the point and flies there at multicopter speed. d is the distance in metres.

What to do, most likely first

1. Q_TRANS_DECEL is more than the aircraft can really brake, so the braking began too late.

   CheckIn the logs of several landings: does it overshoot every time, also in calm air?

   FixLower Q_TRANS_DECEL (2 m/s² by default) step by step until it stops short of the point; the braking then starts earlier.

2. The approach was flown with the wind from behind.

   FixPlan the last leg into the wind. For RTL, Q_RTL_MODE 2 picks the direction into the wind by itself.

3. The landing was started close to the point and at speed (a change to QRTL near home), with no room to stop.

   FixNothing to change: the aircraft comes back by itself. Next time switch to QRTL further out or slower.

Parameters to look at