RadioLink Mini Pix, Руководство пользователя

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this mode. Before a rming, ensure that the APM’s blue LED is solid and not blinking. For a GPS
without compass, the LED will be solid blue when GPS lock is acquired. For the GPS+Compass
module, the LED will be blinking blue when GPS is locked.
RTL will command the copter to return to the home position, meaning that it will return to the
location where it was armed. Therefore, the home position is always supposed to be your copter’s
actual GPS takeoff location, unobstructed and away from people. For Copter if you get GPS lock and
then ARM your copter, the home position is the location the copter was in when it was armed. This
means if you execute an RTL in Copter, it will return to the location where it was armed.
In RTL mode the flight controller uses a barometer which measures air pressure as the primary means
for determining altitude (“Pressure Altitude”) and if the air pressure is changing in your flight area,
the copter will follow the air pressure change rather than actual altitude (unless you are within 20 feet
of the ground and have SONAR installed and enabled).
Options (User Adjustable Parameters)
1. RTL_ALT: The minimum altitude the copter will move to before returning to launch.
(1) Set to zero to return at the current altitude.
(2) The return altitude can be set from 1 to 8000 centimeters.
(3) The default return altitude Default is 15 meters (1500)
2. RTL_ALT_FINAL : The altitude the copter will move to at the final stage of “Returning to Launch”
or after completing a Mission.
(1) Set to zero to automatically land the copter.
(2) The final return altitude may be adjusted from 0 to 1000 centimeters.
3. RTL_LOIT_TIME : Time in milliseconds to hover/pause above the “Home” position before
beginning final descent.
The “Loiter” time may be adjusted from 0 to 60,000 milliseconds.
4. WP_YAW_BEHAVIOR : Sets how the autopilot controls the “Yaw” during Missions and RTL.
(1) 0 = Never change Yaw.
(2) 1 = Face Next Waypoint including facing home during RTL.
(3) 2 = Face Next Waypoint except for RTL (i.e. during RTL vehicle will remain pointed at its last
heading)
5. LAND_SPEED: The descent speed for the final stage of landing in centimeters per second.
The landing speed is adjustable from 20 to 200 centimeters per second.
6. RTL_CLIMB_MIN: The vehicle will climb at least these many meters at the first stage of the RTL. By
default, this value is zero. (only Copter-3.3 and above)
7. RTL_SPEED: The horizontal speed (in cm/s) at which the vehicle will return to home. By default,
this value is zero meaning it will use WPNAV_SPEED. (only Copter-3.4 and higher)
8. RTL_CONE_SLOPE: Defines the slope of an inverted cone above home which is used to limit the
amount the vehicle climbs when RTL-ing from close to home. Low values lead to a wide cone
meaning the vehicle will climb less, High values will lead to the vehicle climbing more. (supported in
Copter-3.4 and higher)