{"action":"closed","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/3354","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3354/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3354/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/3354/events","html_url":"https://github.com/diydrones/ardupilot/issues/3354","id":123055764,"number":3354,"title":"AP: RTL and auto modes should have a minimum ground speed setting","user":{"login":"marcmerlin","id":1369412,"avatar_url":"https://avatars.githubusercontent.com/u/1369412?v=3","gravatar_id":"","url":"https://api.github.com/users/marcmerlin","html_url":"https://github.com/marcmerlin","followers_url":"https://api.github.com/users/marcmerlin/followers","following_url":"https://api.github.com/users/marcmerlin/following{/other_user}","gists_url":"https://api.github.com/users/marcmerlin/gists{/gist_id}","starred_url":"https://api.github.com/users/marcmerlin/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/marcmerlin/subscriptions","organizations_url":"https://api.github.com/users/marcmerlin/orgs","repos_url":"https://api.github.com/users/marcmerlin/repos","events_url":"https://api.github.com/users/marcmerlin/events{/privacy}","received_events_url":"https://api.github.com/users/marcmerlin/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-12-19T02:36:08Z","updated_at":"2015-12-19T02:58:08Z","closed_at":"2015-12-19T02:58:08Z","body":"This is for airplane. For Copter, you could make the point to allow more tilt and aggressive sideways flying if you're battling a headwind (obviously even worse for a copter since your flight time is much more limited than a plane).\r\n\r\nI typically set my trim airspeed for automatic flying to something not too high since adding more power just burns exponentially more batteries without giving a lot of extra speed, and I don't want circle or loiter to use 20A when it could be using 5A.\r\n\r\nHowever, if I lose RC control, RTL kicks in and flies back. Sadly I have seen this happen on video where the airspeed was minimal (enough to fly ok, as I requested), but making almost no progress on returning because of a headwind.\r\nIf I have RC control, I can tell AP to go faster by sending more throttle. That's good.\r\nIf I don't have RC control, AP will stay at low throttle and fly with almost no ground speed when there is a stiff headwind.\r\nI would love for a minimum groundspeed setting where AP will in all auto modes use enough throttle to hit that groundspeed, or hit max allowable throttle for auto modes.\r\n\r\nThanks."}}