BF4.4 GPS Rescue must descend first before starting home

[jeffalanmcclain]

Hello, first of all THANK YOU devs for the awesome improvements so far in BF4.4 GPS Rescue.

Next, I wanted to propose a slight change to behavior I've noticed. I have "fix altitude" set in rescue, and 60m in the parameter for altitude. I noticed, if I'm ABOVE that altitude, and trigger rescue, it will take the time to descend to that 60m (at max descent rate, which I have at 1.5m/s) BEFORE starting off toward home. While that is probably normally fine, at slow descent rates, and if very far above that set altitude, it can eat up a LOT of precious battery life on a 5" freestyle quad descending. It would be nice if it could start for home as long as above altitude (or have a max/min altitude corridor for moving toward home).

Additionally, it would be nice to allow a faster "max descend" speed and to be able to set a "land descend speed" once within XXX meters (altitude) of "home spot" altitude.

[lida2003]

Is there any option, such as "at least". which suggests to rtl at a preset descent speed?

[jeffalanmcclain]

This is pretty much the request (and how iNav handles this). Having it be "At Least" would help. Bonus if they also allowed a "Max" parameter too, so you could set a max window before it starts heading home.

[lida2003]

yeah something like inav. I think it would be nice if we could configure as "at least" and providing two methods: a) decent at preset decent speed(0m/s for not decent); b) decent at estimated speed according to slope of home distance and altitude. which really saves battery.

[lida2003]

 b) decent at estimated speed according to slope of home distance and altitude. which really saves battery.

it is especially usefull avoiding mountain peaks when rtl from long distance. It's kind of LOS signal principle.