User Manual

USER GUIDE

8.4 Advanced RTH Setup

Advanced RTH configuration is done on the “Advanced Safety Mode”

menu, shown below.

8.4.1 Home Altitude Mode

The Home RTH Altitude feature lets you set up two different RTH

altitudes, which can be useful if you need a higher RTH altitude for

part of the return home. To configure home altitude mode, you set

the altitude you want the model to reach when it is close to home (the

inner altitude), and choose the distance from home that will specify

when to use the inner altitude.

To configure dual RTH altitudes, follow these steps:

1) First, select the desired mode by changing the “Home RTH Altitude Mode” on the Advanced Safety Mode

menu. The settings available are as follows:

 Disable: The second (inner) RTH altitude settings are ignored. This is the default.

 Normal: When your model

comes closer than the “Home

Altitude Radius” set below, and

RTH is active, the model will

descend or climb to the

"Home RTH Altitude" specified

below, and return home per your

settings.

Throt Off: (fixed wing only) This

is the same as “Normal” mode above,

except that the throttle is turned off when the model is closer than the “Home Altitude Radius,” which

would normally cause your model to descend to the ground, using the stabilizer to keep the wings level.

This feature is useful if your model returns home, but you still cannot regain RC link. Note: if your model

easily stalls with the motor off, this may not be a good option for you!

2) Next, set the “Home RTH Altitude” item to the desired inner RTH altitude (the altitude that RTH will target

when closer than the distance radius below).

3) Set the “Home Altitude Radius” item to the desired distance from home at which the model will target the

"Home RTH Altitude" described above.

8.4.2 Mountain Mode

For Multirotors, “Mountain Mode” can be selected, which will cause the model to ascend to a relative

altitude above the present altitude when RTH is triggered, rather than climbing to an absolute altitude.

To enable Mountain Mode, do the following:

1) Select “Mountain” Home RTH Altitude Mode

2) Set the desired ascent height (relative to the present altitude when RTH is triggered) in the “Fly

Home at this Altitude” field.