Overview
The HOME parameter group (specifically HOME_RESET_ALT) configures how the autopilot handles the reference altitude for the Home Position.
The Home point is the location where the vehicle armed (or where GPS lock was first obtained). It is the target for the Return to Launch (RTL) mode.
Key Concepts
1. Altitude Resets
On startup, the autopilot sets the current altitude to 0. However, if the barometer drifts significantly while waiting for GPS lock, the "Home" altitude might be offset.
HOME_RESET_ALT: (ArduPlane) Defines the altitude change (threshold) required to trigger an automatic reset of the 0m reference before takeoff.
Parameter Breakdown
HOME_RESET_ALT: Reset threshold in meters.
Developer Notes
- Library:
libraries/AP_AHRS. - Safety: Accurate home altitude is critical for ensuring the vehicle clears obstacles during the return flight and lands at the correct height.