Waypoint Mission RTH Method Change #6502
Description
Current Behavior
Waypoint mission RTH currently uses its own method for RTH rather than using the standard RTH mode (as used by Failsafe). This is limited to one type of RTH only ( turn first ).
Desired Behavior
Use standard RTH method for waypoint mission RTH.
Suggested Solution
Changing to the standard RTH method appears relatively simple helped by the other recent change which sees WP mode fall back to standard RTH if the WP mission is invalid/not loaded.. Using the standard RTH method removes replicated code used for the WP mission specific RTH method whilst providing all the options of the standard RTH. A working change is shown in the following video.
https://www.youtube.com/watch?v=_kxl734HmzY&feature=youtu.be
Points to note:
- The WP mission ends in RTH mode but with only WP mode selected. It is cancelled by switching off WP mode which may seem unintuitive but is now what happens in the case of WP mission mode falling back to RTH if the mission is invalid. To make this situation clearer the change in the video adds a variation to the normal "RTH" shown in the OSD mode field, showing "WRTH" instead to indicate it's RTH triggered by WP mission mode.
- Landing option during a WP mission RTH is is taken from the WP mission rather than the option selected for standard RTH, so landing options are kept separate.
Is there a reason why WP mission RTH never used the standard RTH method that makes the above problematic ?