Gps_rescue_alt_mode = (added in betaflight 4.1) Gps_rescue_throttle_min and gps_rescue_throttle_max in betaflight 4.1 only limit the escursion of the the new pid controller( ) This is the vertical speed at which your quad will descend, espressed in centimeters for second Set gps_rescue_descend_rate = (default is 150) (added in betaflight 4.1) This is the vertical speed at which your quad will climb, espressed in centimeters for second Set gps_rescue_ascend_rate = (default is 500) (added in betaflight 4.1) This is the distance, in meters, at which your quad will start descending towards home. Set gps_rescue_descent_dist = (default is 200) When there is a chance of returning into head winds I like to set this parameter to 45 degrees. Note that the higher the angle, the harder it will be for the altitude controller to keep a stable altitude.
Music rescue 3.1 4 full#
This setting may prevent it to reaching full speed, so you may have to experiment with it if you change the defaults. This is the maximum allowed tilt angle for your quad when coming home. I like 1500 (about 35 mph), but this setting depends on how and where you fly. This is the speed at which your quad will try to come back, in centimeters per second. Set gps_rescue_ground_speed= (default is 2000) I personally like to make it 70 or 80 meters. This altitude will either be this parameter, or the maximum altitude recorded during flight +15m, whichever is highest. When Rescue Mode is activated, your quad will point home and try to climb to a safe altitude relative to your takeoff point. Set gps_rescue_initial_alt= (default is 50) Then configure the following parameters in the cli: Verify that the mode actually gets activated (of course no props). Go to the Betaflight Modes tab and add a switch for GPS Rescue Mode. Using GPS Rescue out of the box (copying someone else's configuration) will diminish the chances of success. This procedure is meant for practicing in a controlled environment and fully understanding the behaviour and limitations of GPS Rescue. In order to set up GPS Rescue on your quad, it is highly recommended that you follow the complete setup procedure from scratch. GPS Rescue uses angle mode so if this is not working properly GPS Rescue will be unable to recover the craft and may cause it to fly in the wrong direction.
If the craft does not properly level then recalibrate the accelerometer and test again. Set up the "ANGLE" flight mode and test in flight to ensure that the craft self-levels and behaves normally.
Its entire purpose is to return the quad closer to home so the pilot can resume control in the event of signal loss. It has no ability to auto-land and will intentionally "soft-crash" when it approaches the home point. It is not meant to be a tool to autonomously fly your quad home and you should not try and use it this way. GPS Rescue is not a full "Return To Home" (RTH) function. In order to increase the probability of GPS Rescue's successful operation, please read this document and configure your system as best as possible for your particular environment and flying style. Keep this in mind, and (other than for initial testing) only activate it to avoid losing your quad. It is not meant to be a reliable Return to Home mode. The only purpose is to bring the quad back into range so you can retake control as soon as possible. GPS Rescue Mode is intended to bring your quad back autonomously in case of an emergency such as loss of video or radio link.
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