The Return to Base (RTB) flight mode uses the full range of sensors available on controller to accurately return to the Home Location without any pilot input.
This assumes the Home Location is set correctly and previously a basic PositionHold mode works perfectly.
Set Attitude Estimation Algorithm
To use all the navigation features using GPS,select the GPS navigation (INS13) attitude estimation algorithm
Go into Attitude page > Settings > Attitude Estimation Algorithm, select GPS Navigation INS13, and Save.
Set the flight mode
Go into Input page > Flight Mode Switch Settings and affect ReturnToBase to one flight mode position.
When engaged, Return to Home Location in a straight line and stay into Position Hold when it gets there without user input.
Optional settings
Return to base altitude offset
By default, the wehicle will climb to 10 meters above its current position when the Return To Base flight mode is activated. This add a margin of safety for the return flight in order to avoid obstacles.
Value of offset can be set in UAVOBrowser: Settings > FlightModeSettings > ReturnToBaseAltitudeOffset. and value in meters.
