{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/2380","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2380/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2380/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2380/events","html_url":"https://github.com/diydrones/ardupilot/issues/2380","id":85913669,"number":2380,"title":"Alternate RTL path planning","user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/AllVehicles","name":"AllVehicles","color":"bfd4f2"},{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/enhancement","name":"enhancement","color":"84b6eb"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":32,"created_at":"2015-06-07T16:03:43Z","updated_at":"2015-06-10T11:48:28Z","closed_at":null,"body":"Add \"breadcrumbs\" to the waypoints param. A simple boolean will work. Not all waypoints need to be flagged as a breadcrumb, just the ones that will give the shortest, or safest, return path. This is useful when navigating around hills or no fly zones (ie. airport) and an RTL is triggered and a direct return-to-home path is not desired.\r\n\r\nWhen RTL_AUTOLAND == 3, an RTL event will cause the waypoint trigger mechanism to execute backwards (decrement to zero) and to skip all non-breadcrumb waypoints. When a NAV_TAKEOFF or index = 0 is executed then we jump to DO_LAND_START and perform an auto-land."},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/110714733","html_url":"https://github.com/diydrones/ardupilot/issues/2380#issuecomment-110714733","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2380","id":110714733,"user":{"login":"magicrub","id":4782875,"avatar_url":"https://avatars.githubusercontent.com/u/4782875?v=3","gravatar_id":"","url":"https://api.github.com/users/magicrub","html_url":"https://github.com/magicrub","followers_url":"https://api.github.com/users/magicrub/followers","following_url":"https://api.github.com/users/magicrub/following{/other_user}","gists_url":"https://api.github.com/users/magicrub/gists{/gist_id}","starred_url":"https://api.github.com/users/magicrub/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/magicrub/subscriptions","organizations_url":"https://api.github.com/users/magicrub/orgs","repos_url":"https://api.github.com/users/magicrub/repos","events_url":"https://api.github.com/users/magicrub/events{/privacy}","received_events_url":"https://api.github.com/users/magicrub/received_events","type":"User","site_admin":false},"created_at":"2015-06-10T11:48:28Z","updated_at":"2015-06-10T11:48:28Z","body":"possibly depends on https://github.com/diydrones/ardupilot/issues/2391"}}