[feature request] Quadplane Set heading during QRTL mode

[moreba1]

Feature request

Is your feature request related to a problem? Please describe.

VTOL plane heading change very rapidly in QRTL mode during RTL.

Describe the solution you'd like

I need a parameter that VTOL don't change the heading and QRTL by current heading. (or into wind)

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ x] Plane
[ ] Rover
[ ] Submarine

[IamPete1]

Do you have a log showing the behavior you would like to fix?

[moreba1]

Do you have a log showing the behavior you would like to fix?

log.zip

I want to heading of drone don't change during QRTL but it always change heading direct to home during QRTL.

[IamPete1]

Looks like its yawing towards the direction of travel. That is what I would have expected if it has to translate home. You would prefer it to keep current heading if its are pure VTOL reposition?

Yaw is often a issue on quad planes, there are a few ways you can reduce the yaw output. Lower gains or accel limits. Reduce yaw head room, apply PD and I term limits.

[moreba1]

You would prefer it to keep current heading if its are pure VTOL reposition?

I prefer to keep Current heading and return to home because of Wind Impact in changing yaw is dangerous for tailsitter.