The DeltaQuad can perform an autonomous Return to Land when instructed from the Ground Control
Station, when instructed from a mission, or when triggered by a failsafe event.
If the DeltaQuad is in Fixed-wing mode when the Return to Land event is triggered the UAV will make use of
the Landing Pattern from the planned mission.
The DeltaQuad will return in Fixed-wing mode to the Loiter waypoint of the Landing pattern in a straight line
at the altitude the UAV is at when the RTL was initiated.
If the altitude of the DeltaQuad is higher than the Default climb value the UAV will stay at its altitude and
return to the Loiter Waypoint.
When reaching the "Loiter" waypoint the DeltaQuad will loiter and descend to the set Approach Altitude. In
the final approach towards the Land item, the DeltaQuad will perform a transition to Multirotor mode and
land as planned in the mission.
Be aware that if your planned Land item is not at the same location as your Launch item, the DeltaQuad will
land in a different location rather than your Home Position.
If the DeltaQuad is in Multirotor mode when the Return To Land event is triggered the UAV will return to the
Land item in a straight line at the altitude it is at when the RTL was initiated.
Because the DeltaQuad is in Multirotor mode it will not make use of the Loiter waypoint and the Landing
Pattern but head directly for the Land item.
If the altitude of the DeltaQuad is lower than the Default climb value (60m) the UAV will ascend to that
Default climb altitude (60m) whilst heading for the Landing item.
If the altitude of the DeltaQuad is higher than the Default climb value the UAV will stay at its altitude and
return to the Landing Pattern.
When reaching the Land item the DeltaQuad will descend in Multirotor mode and touchdown at the Land
location.
Be aware that if your planned Land item is not at the same location as your Launch item, the DeltaQuad will
land in a different location rather than your home location.
Land Mode Settings
Default Descent Rate: 1,2m/s
Disarm after: 5s
This controls the landing behavior. The default descent rate is the maximum speed the DeltaQuad descends
in Multirotor during a landing.
In windy conditions, the vehicle will correct itself by applying a lower descent rate and the indicated descent
rate might not be achieved. The DeltaQuad will brake and slow down its descent from approximately 8
meters above the Home Position to guarantee a soft landing.
The default value of the Descent Rate can be left at 1,2m/s. Nevertheless, if it needs to be changed it should
not be increased above 1.5m/s.
