Problem definition

We wish to be able to set a direction for back transition in QRTL/QLAND modes from fixed wing flight.

Change from George at Ardupilot : https://github.com/ArduPilot/ardupilot/commit/71c11d977d93d1fd05b9d996e760ad094d164735

Discord discussion: https://discord.com/channels/674039678562861068/1324302273391628359

April 1, 2025

Tested by: @Stefard D'Souza

Setup

Binary: https://drive.google.com/file/d/1LkBHvx92Q2F3v1pL_YoySINFmq1utTAX/view

Commit: https://github.com/AirboundInc/ardupilot/commit/957df0633317dbbbd71975ea2411ac322cfefa8d

Sim Windspeed  = 10 kmph, Sim Wind Direction =  West to East

Test observations

Q_RTL_DIR = 0 (Nose into wind)

• indicated approach Path = -90.7 (Nose into Wind) nose pointing towards west
• Back transition Re-attempt = No
• Approach path accurate as per Q_RTL_DIR - Yes