RTH Settings "RTH Home altitude" prevents Autoland from finishing

[NorthIceMan]

If value other than 0 is entered into "RTH Home altitude" the LANDING is initiated but never gets to Landing State 1 (prevents Landing and craft just loiters)

GitHub description says...
nav_rth_home_altitude
Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at nav_rth_altitude (default) [cm]

This may be true for other than autoland but prevents craft from doing the autoland.

Suggest adding warning in the ?-help documentation on the iNav Configurator UI

[sensei-hacker]

nav_rth_home_altitude is the altitude before landing. It will RTH to that altitude, then initiate the landing sequence.

It'll stay there if you disable landing with nav_rth_allow_landing = false

Please attach a diff of your settings.

Also FYI since this is a question about INAV, rather than Configurator, it really should be in the INAV repo. No biggie though.

[NorthIceMan]

Thanks much for the response. I may have found the problem - when I experienced the "glitch" I may have had the following set like so... Land Alt = 5m Initial altitude of the glide phase = 2m Initial altitude of the flare phase = 1 m ...so the FC didn't like the glide phase starting lower than the Land At ? When I set them as follows it landed well (see diag below).... Land Alt = 1m Initial altitude of the glide phase = 4m Initial altitude of the flare phase = 2m please check the diff - do you see any problems that might affect autoland? I have been trying to get the FW to land in a shorter distance due to a power line that is about 300 m from the takeoff point. Right after I posted the GitHub issue I read online that the Land Alt is very important. Are there any other rules to observe when setting the Land Alt? For instance...should it be set to Alt=0 (zero) when not using the Above Sea Level Alt? [image: image.png] After flight in X-plane

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On Thu, Nov 6, 2025 at 10:18 AM Sensei ***@***.***> wrote: *sensei-hacker* left a comment (iNavFlight/inav#11117) <#11117 (comment)> nav_rth_home_altitude is the altitude before landing. It will RTH to that altitude, then initiate the landing sequence. It'll stay there *if* you disable landing with nav_rth_allow_landing = false Please attach a diff of your settings. Also FYI since this is a question about INAV, rather than Configurator, it really should be in the INAV repo. No biggie though. — Reply to this email directly, view it on GitHub <#11117 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ARYDOPYX3X335YORK2XTU2333NKCLAVCNFSM6AAAAACLKQJNDWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTIOJXGQ3TEMRVG4> . You are receiving this because you authored the thread.Message ID: ***@***.***>

-- *A Man can never have too much wine or too many books or too much ammunition or too many ducks*

[NorthIceMan]

Sorry-forgot the Diff file! I removed all WPs (so we don't collide LOL)

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On Thu, Nov 6, 2025 at 11:26 AM Ron Nowlan ***@***.***> wrote: Thanks much for the response. I may have found the problem - when I experienced the "glitch" I may have had the following set like so... Land Alt = 5m Initial altitude of the glide phase = 2m Initial altitude of the flare phase = 1 m ...so the FC didn't like the glide phase starting lower than the Land At ? When I set them as follows it landed well (see diag below).... Land Alt = 1m Initial altitude of the glide phase = 4m Initial altitude of the flare phase = 2m please check the diff - do you see any problems that might affect autoland? I have been trying to get the FW to land in a shorter distance due to a power line that is about 300 m from the takeoff point. Right after I posted the GitHub issue I read online that the Land Alt is very important. Are there any other rules to observe when setting the Land Alt? For instance...should it be set to Alt=0 (zero) when not using the Above Sea Level Alt? [image: image.png] After flight in X-plane On Thu, Nov 6, 2025 at 10:18 AM Sensei ***@***.***> wrote: > *sensei-hacker* left a comment (iNavFlight/inav#11117) > <#11117 (comment)> > > nav_rth_home_altitude is the altitude before landing. It will RTH to that > altitude, then initiate the landing sequence. > > It'll stay there *if* you disable landing with nav_rth_allow_landing = > false > > Please attach a diff of your settings. > > Also FYI since this is a question about INAV, rather than Configurator, > it really should be in the INAV repo. No biggie though. > > — > Reply to this email directly, view it on GitHub > <#11117 (comment)>, > or unsubscribe > <https://github.com/notifications/unsubscribe-auth/ARYDOPYX3X335YORK2XTU2333NKCLAVCNFSM6AAAAACLKQJNDWVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTIOJXGQ3TEMRVG4> > . > You are receiving this because you authored the thread.Message ID: > ***@***.***> > -- *A Man can never have too much wine or too many books or too much ammunition or too many ducks*

-- *A Man can never have too much wine or too many books or too much ammunition or too many ducks* # diff all # version # INAV/SPEEDYBEEF405WING 8.0.1 Mar 28 2025 / 09:52:26 (ae47bcb) # GCC-13.2.1 20231009 # start the command batch batch start # reset configuration to default settings defaults noreboot # resources # Timer overrides # Outputs [servo] # safehome safehome 0 1 0 0 safehome 1 1 0 0 safehome 2 1 0 0 safehome 3 1 0 0 # Fixed Wing Approach fwapproach 0 6000 500 1 -130 0 0 fwapproach 1 4000 500 0 0 0 0 fwapproach 3 7000 500 1 -230 0 0 fwapproach 4 6000 500 0 0 0 0 fwapproach 8 4000 100 0 -130 0 0 # geozone # geozone vertices # features feature SOFTSERIAL feature GPS feature PWM_OUTPUT_ENABLE feature FW_AUTOTRIM # beeper # blackbox blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y blackbox -SERVOS # Receiver: Channel map # Ports serial 0 0 115200 115200 0 115200 serial 1 64 115200 115200 0 115200 serial 5 33554432 115200 115200 0 115200 serial 30 33 115200 115200 0 115200 # LEDs # LED color # LED mode_color # Modes [aux] aux 0 0 0 900 1500 aux 1 1 1 1375 1475 aux 2 2 1 1450 1550 aux 3 12 1 1600 1775 aux 4 53 1 1200 1350 aux 5 11 1 900 1125 aux 6 10 1 1900 2075 aux 7 28 9 1300 1700 aux 8 21 2 1850 2100 aux 9 54 2 900 1200 aux 10 19 3 900 1200 aux 11 42 3 1225 1600 aux 12 43 3 1600 1950 aux 13 44 3 1950 2100 # Adjustments [adjrange] # Receiver rxrange # temp_sensor # Mission Control Waypoints [wp] #wp 5 valid wp 0 1 0 0 4000 0 0 0 0 wp 1 1 0 0 4000 0 0 0 0 wp 2 1 0 0 4000 0 0 0 0 wp 3 1 0 0 4000 0 0 0 0 wp 4 8 0 0 4000 0 0 0 165 # OSD [osd_layout] osd_layout 0 0 24 4 V osd_layout 0 1 3 9 V osd_layout 0 3 8 6 V osd_layout 0 7 24 1 V osd_layout 0 8 2 1 V osd_layout 0 9 44 15 V osd_layout 0 10 43 4 H osd_layout 0 11 3 7 V osd_layout 0 12 14 8 V osd_layout 0 13 24 6 V osd_layout 0 14 2 2 V osd_layout 0 15 23 5 V osd_layout 0 19 3 12 V osd_layout 0 20 3 3 V osd_layout 0 21 3 4 V osd_layout 0 22 15 6 V osd_layout 0 23 13 5 V osd_layout 0 24 27 16 V osd_layout 0 29 7 2 V osd_layout 0 30 11 17 V osd_layout 0 31 45 17 V osd_layout 0 32 3 11 H osd_layout 0 33 44 16 V osd_layout 0 34 34 1 V osd_layout 0 36 14 9 V osd_layout 0 37 3 8 V osd_layout 0 38 9 8 V osd_layout 0 40 3 5 V osd_layout 0 46 3 6 V osd_layout 0 48 3 10 V osd_layout 0 49 31 8 V osd_layout 0 53 3 10 H osd_layout 0 96 28 5 V osd_layout 0 105 46 7 H osd_layout 0 113 21 13 H osd_layout 0 114 8 3 H osd_layout 0 115 8 4 H osd_layout 0 119 3 18 V osd_layout 0 124 36 2 V osd_layout 0 128 14 1 H osd_layout 0 129 21 13 V osd_layout 0 140 18 16 V osd_layout 0 142 40 18 V osd_layout 0 147 25 9 V osd_layout 0 148 24 8 V osd_layout 0 154 44 12 V osd_layout 0 155 42 11 V osd_layout 0 156 19 8 V osd_layout 0 157 19 9 V osd_layout 3 0 24 4 V osd_layout 3 1 3 9 V osd_layout 3 3 8 6 V osd_layout 3 7 24 1 V osd_layout 3 8 2 1 V osd_layout 3 9 44 15 V osd_layout 3 11 3 7 V osd_layout 3 12 14 8 V osd_layout 3 13 24 6 V osd_layout 3 14 2 2 V osd_layout 3 15 23 5 V osd_layout 3 19 3 12 V osd_layout 3 20 3 3 V osd_layout 3 21 3 4 V osd_layout 3 22 15 6 V osd_layout 3 23 13 5 V osd_layout 3 24 27 16 V osd_layout 3 28 23 11 V osd_layout 3 29 7 2 V osd_layout 3 30 11 17 V osd_layout 3 31 45 17 V osd_layout 3 33 44 16 V osd_layout 3 34 34 1 V osd_layout 3 36 14 9 V osd_layout 3 37 3 8 V osd_layout 3 38 9 8 V osd_layout 3 40 3 5 V osd_layout 3 46 3 6 V osd_layout 3 48 3 10 V osd_layout 3 49 31 8 V osd_layout 3 96 28 5 V osd_layout 3 119 3 18 V osd_layout 3 124 36 2 V osd_layout 3 129 21 13 V osd_layout 3 139 28 14 H osd_layout 3 140 18 16 V osd_layout 3 142 40 18 V osd_layout 3 147 46 13 V osd_layout 3 148 45 12 V osd_layout 3 154 44 10 V osd_layout 3 155 42 9 V osd_layout 3 156 44 7 V osd_layout 3 157 44 8 V # Programming: logic logic 0 1 -1 32 0 3 0 0 0 logic 1 1 -1 18 0 4 2 41 0 logic 2 1 -1 1 2 41 0 4 0 logic 3 0 2 48 4 2 0 3000 0 logic 4 0 2 29 0 900 0 0 0 logic 5 1 -1 1 2 41 0 3 0 logic 6 0 5 29 0 900 0 0 0 logic 7 1 -1 18 0 6 2 14 0 logic 8 1 -1 1 2 41 0 2 0 logic 9 0 8 29 0 1000 0 0 0 logic 10 0 -1 49 4 3 0 5000 0 logic 11 0 -1 46 2 26 0 50 0 logic 12 1 -1 18 0 7 2 26 0 logic 13 0 -1 3 1 5 0 1500 0 logic 14 0 13 22 0 0 0 0 0 # Programming: global variables # Programming: PID controllers # OSD: custom elements osd_custom_elements 0 5 4 0 0 0 0 0 0 "" osd_custom_elements 1 1 0 0 0 0 0 0 0 "LAND " osd_custom_elements 2 1 0 0 0 0 0 0 0 "STATE" osd_custom_elements 3 7 6 0 0 0 0 0 0 "" osd_custom_elements 4 1 0 0 0 0 0 0 0 "THROTTLE" osd_custom_elements 5 1 0 0 0 0 0 0 0 "PITCH" osd_custom_elements 6 7 7 0 0 0 0 0 0 "" osd_custom_elements 7 9 0 0 0 0 0 0 0 "" # master set gyro_main_lpf_hz = 25 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set gyro_zero_x = -3 set gyro_zero_y = -13 set gyro_zero_z = 6 set ins_gravity_cmss = 996.872 set gyro_adaptive_filter_min_hz = 20 set acc_hardware = ICM42605 set acczero_x = 2 set acczero_y = -1 set acczero_z = 13 set accgain_x = 4086 set accgain_y = 4095 set accgain_z = 4081 set align_mag = CW270FLIP set mag_hardware = QMC5883 set mag_declination = -10 set magzero_x = 304 set magzero_y = 1178 set magzero_z = 83 set maggain_x = 1274 set maggain_y = 1178 set maggain_z = 1662 set baro_hardware = SPL06 set serialrx_provider = SBUS set blackbox_rate_denom = 2 set motor_pwm_protocol = STANDARD set failsafe_procedure = RTH set failsafe_mission_delay = 1 set align_board_yaw = 1800 set small_angle = 180 set applied_defaults = 3 set gps_sbas_mode = AUTO set gps_dyn_model = AIR_4G set gps_ublox_use_galileo = ON set gps_ublox_use_glonass = ON set airmode_type = STICK_CENTER_ONCE set inav_reset_home = EACH_ARM set nav_wp_load_on_boot = ON set nav_wp_radius = 1800 set nav_wp_enforce_altitude = 610 set nav_wp_max_safe_distance = 1500 set nav_fw_wp_tracking_accuracy = 6 set nav_fw_wp_turn_smoothing = ON-CUT set nav_land_minalt_vspd = 500 set nav_land_maxalt_vspd = 920 set nav_land_slowdown_maxalt = 3050 set nav_emerg_landing_speed = 694 set nav_rth_alt_control_override = ON set nav_max_altitude = 5000 set nav_rth_altitude = 5000 set nav_rth_home_altitude = 5000 set safehome_max_distance = 65000 set nav_fw_bank_angle = 45 set fw_min_throttle_down_pitch = 100 set nav_fw_loiter_radius = 3050 set fw_loiter_direction = LEFT set nav_fw_control_smoothness = 2 set nav_fw_land_dive_angle = 3 set nav_fw_launch_motor_delay = 100 set nav_fw_launch_max_altitude = 5000 set nav_fw_launch_climb_angle = 25 set telemetry_switch = ON set osd_video_system = AVATAR set osd_dist_alarm = 999 set osd_crsf_lq_format = TYPE2 set pilot_name = RON set tz_offset = -240 set tz_automatic_dst = USA set nav_fw_land_approach_length = 25000 set nav_fw_land_glide_alt = 400 set nav_fw_land_flare_alt = 200 set nav_fw_land_flare_pitch = 10 set nav_fw_land_max_tailwind = 139 # control_profile control_profile 1 set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 80 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_p_yaw = 50 set fw_i_yaw = 0 set fw_d_yaw = 20 set fw_ff_yaw = 255 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.400 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_d = 8 set nav_fw_pos_xy_p = 55 set d_boost_min = 1.000 set d_boost_max = 1.000 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3 # control_profile control_profile 2 set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 80 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_p_yaw = 50 set fw_i_yaw = 0 set fw_d_yaw = 20 set fw_ff_yaw = 255 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.400 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_d = 8 set nav_fw_pos_xy_p = 55 set d_boost_min = 1.000 set d_boost_max = 1.000 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3 # control_profile control_profile 3 set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 80 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_p_yaw = 50 set fw_i_yaw = 0 set fw_d_yaw = 20 set fw_ff_yaw = 255 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.400 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_d = 8 set nav_fw_pos_xy_p = 55 set d_boost_min = 1.000 set d_boost_max = 1.000 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3 # mixer_profile mixer_profile 1 set platform_type = AIRPLANE set model_preview_type = 14 # Mixer: motor mixer mmix reset mmix 0 1.000 0.000 0.000 0.000 # Mixer: servo mixer smix reset smix 0 1 1 100 0 -1 smix 1 2 0 100 0 -1 smix 2 3 0 100 0 -1 smix 3 4 2 100 0 -1 # mixer_profile mixer_profile 2 # Mixer: motor mixer # Mixer: servo mixer # battery_profile battery_profile 1 set throttle_idle = 0.000 set failsafe_throttle = 1200 set nav_fw_cruise_thr = 1150 set nav_fw_min_thr = 1150 set nav_fw_max_thr = 1800 set nav_fw_pitch2thr = 15 # battery_profile battery_profile 2 set throttle_idle = 5.000 # battery_profile battery_profile 3 set throttle_idle = 5.000 # restore original profile selection control_profile 3 mixer_profile 1 battery_profile 1 # save configuration save #

[NorthIceMan]

BTW-found another issue that causes iNav to not enter Land State 1 (it just loiters) - its when the fwapproach 's (seen in CLI by typing "fwapproach") get out-of-whack somehow (probably thru many saves in Mission screen with different values). I overwrote all 16 fwapproach 's with zeroes and resaved the mission in Mission Control and the flight was perfect.