User Manual

USER GUIDE
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For example, if Mountain Mode is enabled, the “Fly Home at this Altitude” setting is 30 meters, and the
present altitude is 20 meters when RTH is triggered, the multirotor will ascend to approximately 50 meters
above the home position ground altitude.
8.4.3 Other Advanced RTH Settings
8.4.3.1 Minimum Speed for RTH
The “Minimum Ground Spd (0 disable)” menu item is useful if you are flying in windy areas, and RTH could
be triggered downwind. If your model is returning to home at a speed lower than specified ground speed,
RTH will use your 'Climb' throttle setting instead of the 'Cruise' throttle setting to attempt to increase your
RTH speed. Waypoint navigation also uses this setting.
8.4.3.2 Enabling Low Altitude RTH (Fixed Wing only)
If you fly in such a way that it’s necessary to have RTH engage the propeller at altitudes below the normal
altitude cutoff (such as if you fly off cliffs, or otherwise fly below the altitude of the takeoff point) you can
set the “Permit low alt RTH (Caution!)” menu item to “Yes”. Setting this to “Yes” defeats the MicroVector’s
automatic disabling of RTH throttle control below altimeter readings of about 60 feet (20 m).
Since enabling this option increases the likelihood that RTH will inadvertently activate your throttle on
the ground, it should be used with extreme caution!
8.4.3.3 Disabling PCM Glitch Detection
In addition to checking to see if your receiver is in failsafe mode, as an additional layer of protection the
MicroVector also monitors the health of the signals coming from your receiver. If the MicroVector sees
receiver pulses that are out of spec (too long or too short), or if servo pulses stop altogether for a channel, RTH
will be triggered.
Eagle Tree occasionally gets reports of receivers (usually low cost ones) that will sometimes send invalid
signals even when they have a good link. If you see RTH triggering with the message “RTH Engaged: Too Many
Rx Glitches” or “RTH Engaged: Bad Rx Pulsewidths” and you are certain that the receiver is not losing link, and
that there is not a loose connection when these occur, you can set “Disable PCM Glitch Detection” to “Yes”.
Please note that if you do this, a broken wire or loose connection from your receiver will NOT trigger RTH!