The Return to Base (RTB) flight mode uses the full range of sensors available on controller to accurately return to the Home Take Off Location without any pilot input.
To use all the navigation features using GPS,select the GPS navigation (INS13) attitude estimation algorithm
Go into Attitude page > Settings > Attitude Estimation Algorithm, select GPS Navigation INS13, and Save.
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Set the flight mode
Go into Input page > Flight Mode Switch Settingsand affect ReturnToBase to one flight mode position.
When engaged, Return to Home Take Off Location in a straight line and stay into Position Hold when it gets there without user input.
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By default, the vehicle will climb to 10 meters above its current position when the Return To Base flight mode is activated. This add a margin of safety for the return flight in order to avoid obstacles.
Value of offset can be set in UAVOBrowser: System tab > Settings > FlightModeSettings > ReturnToBaseAltitudeOffset. and value in meters.
Save settings using button.
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TakeOffLocation can be configured to return to either the ArmingLocation, or FirstArmingLocation.
Value can be set in UAVOBrowser: System tab > Settings > TakeOffLocation > Mode
The default setting to "ArmingLocation" to return to the point of takeoff is recommended in most instances.
Save settings using button.
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Return to base next command
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This option only applies to Multirotors, after a Return to Base the default behavior is Hold position when Home position is reached.
Another alternative is a Land phase after Return to Base.
Value can be set in UAVOBrowser: System tab > Settings > FlightModeSettings > ReturnToBaseNextCommand. and choose between Hold or Land.