Log: https://review.px4.io/plot_app?log=e18eb543-81ed-41eb-9a65-eb56e4eb7ea4
My PX4 v1.15 drone indefinitely loitered at the mission landing loiter point instead of continuing to land during RTL. We had to take over control and land it manually, but this is potentially disastrous behavior. It should have landed because RTL_TYPE = 2 and there was a mission landing planned.
It had these messages:
I have not been able to replicate this in SITL by triggering a quadchute nor switching to Return mode. I’m not sure how to get the “Failsafe activated: Autopilot disengaged, switching to RTL” message either.
Hi there.
I first thought about the parameter RTL_LAND_DELAY which if you set it to -1 has exactly this effect but checking your log it seems that you didn’t touched it, during to default value 0 the drone should have landed. Unfortunately for now I don’t have another idea.
thanks for your response.
RTL_LAND_DELAY does not apply when RTL to mission landing. So even if it was set to -1, it wouldn’t have caused this indefinite loiter.
Check the LND parameters if it set to require terrain data.
If it required terrain data for landing this is most likely the behaviour you get.
You need to disable the terrain Data for landing, if you have no sensor or if its not working
That is what I expierenced with FW but Quad might be the same don’t know tho
I believe you are referring to the FW_LND_USETER parameter. However, since this is a VTOL drone, that parameter does not apply. As far as I know, there is no equivalent parameter for VTOL. And there was no indication in the logged messages that it wasn’t landing due to a parameter exception like that.
