Return to a safehome

The footer on the card says return heads for the nearest enabled safehome within range instead of the arming point. Enabled matters. A slot with a position but the switch off is not a target. The corner of the card counts enabled slots over the number the board reported.

Use only within is metres from where the craft was armed. The stored value runs from 0 to 65000, and the field shows that as 0 to 650 m, in steps of 10. The demo starts at 200 m. The map draws that distance as a circle around each enabled safehome. At 0 the circles are not drawn.

Off stores the mode that does not use safehomes, so return stays on the arming point. Every return is the mode the demo starts on. Failsafe returns only leaves a normal return on the arming point and uses a safehome when the return is a failsafe. Pick the one the flight actually needs. A site you placed is ignored while the mode is Off.

If the nearest enabled site is farther from the arming point than the limit, it is not in range. Return then uses the arming point. Move the site closer, raise the distance, or turn that slot off and use another.

Press and hold on the map to place the next safehome. The app finds the first slot that is still 0, 0, writes the point you held, and turns that slot on. A short tap on a pin opens it so you can change the latitude, the longitude, or the enabled switch.

One finger dragging the map scrolls the page. Pinch and two-finger drag pan and zoom. Show all fits the placed pins, and the craft if it has a GPS fix, back into the frame.

When every slot already has a position, a long press does not add another. The message says all safehome slots are in use, and to select one to move it. When the board reports none, the card says this flight controller doesn't report any safehome slots.

FlySpark reads slot 0, then 1, and so on, and stops when the board rejects an index or the reply is too short. It will not ask past 16. The demo answers 8 slots. The number on your board is the number in the corner, not a guess. Coordinates are stored to a ten-millionth of a degree, which is how the safehome message carries latitude and longitude.

Each safehome can carry a fixed-wing approach: headings and altitudes for a landing into wind. A heading of 0 means that leg is unused. A negative heading is flown only in that direction, never reversed.

Writing a safehome clears that approach in the firmware. FlySpark reads the approach first and writes it back in the same save, so editing the pin does not wipe a landing you already stored. If you meant to change the approach, change it in the editor before you save.

Geozones are a different card. One switch there can treat the nearest safehome as an allowed area, so return can still reach it when the site sits outside a zone. The zone shapes and actions are the geozones guide.

The safehome card is on Advanced nav, and only on INAV. Betaflight has no safehome slots. GPS Rescue on Betaflight is a different return, with its own altitude and speed, and it does not read these pins.

Chrome or Edge connects over USB or Bluetooth. Android adds Wi-Fi. iPhone uses Bluetooth or Wi-Fi and has no USB host. The map itself is on the page either way. Saving the slots uses the link to the board.