Collective RTH

This panel is experimental! Layout and functionality might change without notice.

The Collective RTH panel provides detailed information about the pre-generated collective RTH plans of the show and the actual status of a possible collective RTH procedure.

If this panel is empty, you are either not a Pro user or did not generate a collective RTH plan for your show beforehand with the Plan collective RTH dialog.

If you have a valid collective RTH plan, the panel will display useful statistics about your plan for manual review by default. You will be able to see details about each mid-show ending option with information about when they can be triggered and how long they will last, as in the example image above.

Once you trigger a real collective RTH procedure during your show, the Collective RTH panel will display a timeline and progress information showing what to expect.

Collective RTH panel during a CRTH action

There are three consecutive phases of a collective RTH procedure in Skybrush:

Preparation: This phase is needed to inform all drones about the upcoming collective RTH procedure. The show continues without noticeable change in this phase. The length of this phase can be set up as a server configuration parameter, depending on your network infrastructure stability and experience.
Slowdown: In this phase the drones slow the show timeline until they stop fully. This way they can remain on their original show trajectories without collisions while they prepare for the return-to-home phase. The length of this phase can also be changed as a server configuration parameter.
Return to Home: This is the actual phase of the collective RTH operation. In this phase drones return to their home positions in a coordinated way, without collisions, and land automatically.

The Collective RTH operation cannot be cancelled or suspended! After triggering it, all you need to do is wait until all drones land safely. If you need to stop a collective RTH operation, you can still change the flight mode to simple RTH or LAND, but it is your responsibility what you do with your drones.