{"action":"closed","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/3942","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/3942/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/3942/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/3942/events","html_url":"https://github.com/PX4/Firmware/issues/3942","id":139073248,"number":3942,"title":"RTL uses MPC_XY_VEL_MAX","user":{"login":"tops4u","id":6877067,"avatar_url":"https://avatars.githubusercontent.com/u/6877067?v=3","gravatar_id":"","url":"https://api.github.com/users/tops4u","html_url":"https://github.com/tops4u","followers_url":"https://api.github.com/users/tops4u/followers","following_url":"https://api.github.com/users/tops4u/following{/other_user}","gists_url":"https://api.github.com/users/tops4u/gists{/gist_id}","starred_url":"https://api.github.com/users/tops4u/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tops4u/subscriptions","organizations_url":"https://api.github.com/users/tops4u/orgs","repos_url":"https://api.github.com/users/tops4u/repos","events_url":"https://api.github.com/users/tops4u/events{/privacy}","received_events_url":"https://api.github.com/users/tops4u/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2016-03-07T19:39:58Z","updated_at":"2016-03-14T08:19:37Z","closed_at":"2016-03-14T08:19:37Z","body":"When activating RTL it seems to me that it will travel at maximum allowable Speed specified in MPC_XY_VEL_MAX. This may result in a huge overshoot of the Homelocation if other Parameters (I assume MPC_ACC_HOR_MAX, MPC_HOLD_MAX_XY) are not tuned accordingly. I like to have a fast Copter without the \"twitch\" of higher MPC_ACC_HOR_MAX / MPC_HOLD_MAX_XY Values. \r\n\r\nIf RTL behave as described above a separate Value for the max allowed RTL Speed would be desirable. "}}