safehome only use in FS state. #6541
Description
Currently, when a safehome is set, it replaces the 'home' position.
So when manually giving a RTH command, the plane flies to the safehome, rather then the arming position, and lands there (never allowed it to land, but that's what it seems to do).
Could we somehow have the option, when we have radio control, to let the plane fly to the arming position normally, and have the 'home' pointer also point to the arming position, even if a safehome has been set up, and is within range.
I normally have RTH setup as nav_rth_allow_landing = FS_ONLY
Only in case of a failsafe, should the plane fly to the safehome position, and land there....
on a normal RTH (using a switch, while in radio contact), it will fly to the arming position and circle there.
Perhaps a parameter like:
safehome_behaviour = FS_only / OFF / ON
When off, it should behave like no safehome was set up
When on, it should always RTH to safehome position, Also the home arrow should point there (like it behaves now)
When FS_only, home arrow points to the arming point, manual RTH flies back to the arming point, but in a failsafe case, it will fly to the safehome instead and land there.
The reason for this is, near my flying fields, there are not many open areas large enough where an autoland would have enough space to not crash into trees, etc..
The closest large enough area is over one km away. (lots of small fields, lined with trees).
The thing I fear the most, if I ever use radio link, and cannot re-connect, that the plane will circle near the home position, and crash into something. The current safehomes makes that better already, but still it will crash into the trees (because of the limited distance I can setup the safehome doesn't allow me to select a field large enough).
Anyway, This is what I did now.... always better to crash into a tree, than to hit some houses.
Also, when I can set the distance much farther, I would have the home arrow showing at a strange location.
I often use RTH command to bring the plane back towards me, where I can see it, and land in manually.
If it flies to a far away safehome, I will not see it.