diff --git a/docs/en/flight_modes/return.md b/docs/en/flight_modes/return.md
index 2b3bf4389d..2c9a11daa2 100644
--- a/docs/en/flight_modes/return.md
+++ b/docs/en/flight_modes/return.md
@@ -4,11 +4,11 @@
The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it should land.
-The following topics should be read first if you're using these vehicle types:
+Each vehicle has a **default** return mode behavior which is described in the linked topics (read those first if you plan on using the defaults):
-- [Multicopter](../flight_modes_mc/return.md)
-- [Fixed-wing (Plane)](../flight_modes_fw/return.md)
-- [VTOL](../flight_modes_vtol/return.md)
+- [Multicopter](../flight_modes_mc/return.md) — Home/rally point return
+- [Fixed-wing (Plane)](../flight_modes_fw/return.md) — Mission landing/Rally point return
+- [VTOL](../flight_modes_vtol/return.md) — Mission landing/Rally point return
::: info
@@ -40,11 +40,9 @@ This topic covers all the possible return types that any vehicle _might_ be conf
The following sections explain how to configure the [return type](#return_types), [minimum return altitude](#minimum-return-altitude) and [landing/arrival behaviour](#loiter-landing-at-destination).
-
+## Return Types (RTL_TYPE) {#return_types}
-## Return Types (RTL_TYPE)
-
-PX4 provides four alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.
+PX4 provides a number of alternative approaches for finding an unobstructed path to a safe destination and/or landing, which are set using the [RTL_TYPE](#RTL_TYPE) parameter.
At high level these are:
@@ -56,12 +54,16 @@ At high level these are:
If no _mission_ defined, return direct to home (rally points are ignored).
- [Closest safe destination return](#closest-safe-destination-return-type-rtl-type-3) (`RTL_TYPE=3`): Ascend to a safe altitude and return via direct path to closest destination: home, start of mission landing pattern, or rally point.
If the destination is a mission landing pattern, follow the pattern to land.
+- [Reverse mission return or mission landing](#mission-landing-or-reverse-mission-return-type-rtl-type-4) (`RTL_TYPE=4`): Return to the planned mission landing, or to home via the reverse mission path, whichever is closer (counted by waypoints).
+ Do not consider rally points.
+ If no mission is defined, return direct to home.
+- [Safe point return](#safe-point-return-type-rtl-type-5) (`RTL_TYPE=5`): Return directly to the closest rally (safe) point.
+ Do not consider the home position or mission landing.
+ If no rally point is defined, descend and loiter at the current position.
More detailed explanations for each of the types are provided in the following sections.
-
-
-### Home/Rally Point Return Type (RTL_TYPE=0)
+### Home/Rally Point Return Type (RTL_TYPE=0) {#home_return}
This is the default return type for a [multicopter](../flight_modes_mc/return.md) (see topic for more information).
@@ -147,6 +149,34 @@ In this return type the vehicle:
By default an MC or VTOL in MC mode will land, and a fixed-wing vehicle circles at the descent altitude.
A VTOL in FW mode aligns its heading to the destination point, transitions to MC mode, and then lands.
+### Mission Landing or Reverse Mission Return Type (RTL_TYPE=4)
+
+This return type uses the mission (if defined) to provide a safe return path (either forward or in reverse), and the [mission landing pattern](#mission-landing-pattern) (if defined) to provide landing behaviour:
+
+- If a mission landing pattern exists and it is closer (by waypoint count) than home via the reverse mission, the vehicle flies forward to the mission landing.
+- Otherwise it flies the mission in reverse to return home.
+- If no valid mission is defined, the vehicle returns directly to home.
+- Rally points are ignored.
+
+Note that this is similar to [RTL_TYPE=2](#mission-path-return-type-rtl-type-2), but the choice between fast-forward and fast-reverse is based on which destination is _closer by waypoint count_ rather than which flight mode is active when return mode is activated.
+
+### Safe Point Return Type (RTL_TYPE=5)
+
+In this return type the vehicle returns directly to the closest rally point (only).
+Home position and mission landings are not considered.
+
+The vehicle:
+
+- Ascends to a safe [minimum return altitude](#minimum-return-altitude) (above any expected obstacles).
+- Flies via a direct path to the closest rally point.
+- On [arrival](#loiter-landing-at-destination) descends to the descent altitude and [lands or waits](#loiter-landing-at-destination) (depending on landing parameters).
+
+If no rally point is defined, the vehicle will descend and loiter at its current position (it will not return to home).
+
+::: info
+This type is useful when the home position is not a safe return point.
+:::
+
## Minimum Return Altitude
For most [return types](#return_types) a vehicle will ascend to a _minimum safe altitude_ before returning (unless already above that altitude), in order to avoid any obstacles between it and the destination.
@@ -205,15 +235,15 @@ For this reason fixed-wing vehicles are configured to use [Mission landing/reall
The RTL parameters are listed in [Parameter Reference > Return Mode](../advanced_config/parameter_reference.md#return-mode) (and summarised below).
-| Parameter | Description |
-| ----------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land.
`2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land. |
-| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. If already above this value the vehicle will return at its current altitude. |
-| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m) |
-| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically). |
-| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. |
-| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
-| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
-| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
-| [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |
-| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. |
+| Parameter | Description |
+| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| [RTL_TYPE](../advanced_config/parameter_reference.md#RTL_TYPE) | Return mechanism (path and destination).
`0`: Return to a rally point or home (whichever is closest) via direct path.
`1`: Return to a rally point or the mission landing pattern start point (whichever is closest), via direct path. If neither mission landing or rally points are defined return home via a direct path. If the destination is a mission landing pattern, follow the pattern to land.
`2`: Use mission path fast-forward to landing if a landing pattern is defined, otherwise fast-reverse to home. Ignore rally points. Fly direct to home if no mission plan is defined.
`3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
`4`: Return home via the reverse mission path or to the planned mission landing, whichever is closer by waypoint count. Ignore rally points. Fly direct to home if no mission is defined.
`5`: Return directly to the closest rally point (safe point). Ignore home and mission landing. If no rally point is defined, descend at current position. |
+| [RTL_RETURN_ALT](../advanced_config/parameter_reference.md#RTL_RETURN_ALT) | Return altitude in meters (default: 60m) when [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) is 0. If already above this value the vehicle will return at its current altitude. |
+| [RTL_DESCEND_ALT](../advanced_config/parameter_reference.md#RTL_DESCEND_ALT) | Minimum return altitude and altitude at which the vehicle will slow or stop its initial descent from a higher return altitude (default: 30m) |
+| [RTL_LAND_DELAY](../advanced_config/parameter_reference.md#RTL_LAND_DELAY) | Time to wait at `RTL_DESCEND_ALT` before landing (default: 0.5s) -by default this period is short so that the vehicle will simply slow and then land immediately. If set to -1 the system will loiter at `RTL_DESCEND_ALT` rather than landing. The delay is provided to allow you to configure time for landing gear to be deployed (triggered automatically). |
+| [RTL_MIN_DIST](../advanced_config/parameter_reference.md#RTL_MIN_DIST) | Minimum horizontal distance from home position to trigger ascent to the return altitude specified by the "cone". If the vehicle is horizontally closer than this distance to home, it will return at its current altitude or `RTL_DESCEND_ALT` (whichever is higher) instead of first ascending to RTL_RETURN_ALT. |
+| [RTL_CONE_ANG](../advanced_config/parameter_reference.md#RTL_CONE_ANG) | Half-angle of the cone that defines the vehicle RTL return altitude. Values (in degrees): 0, 25, 45, 65, 80, 90. Note that 0 is "no cone" (always return at `RTL_RETURN_ALT` or higher), while 90 indicates that the vehicle must return at the current altitude or `RTL_DESCEND_ALT` (whichever is higher). |
+| [COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE) | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md) (except when vehicle is handling a critical battery failsafe). This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
+| [COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled). |
+| [RTL_LOITER_RAD](../advanced_config/parameter_reference.md#RTL_LOITER_RAD) | [Fixed-wing Only] The radius of the loiter circle (at [RTL_LAND_DELAY](#RTL_LAND_DELAY)). |
+| [MIS_TKO_LAND_REQ](../advanced_config/parameter_reference.md#MIS_TKO_LAND_REQ) | Specify whether a mission landing or takeoff pattern is _required_. Generally fixed-wing vehicles set this to require a landing pattern but VTOL do not. |
diff --git a/docs/en/flight_modes_fw/return.md b/docs/en/flight_modes_fw/return.md
index 393d1c6a13..7913afd728 100644
--- a/docs/en/flight_modes_fw/return.md
+++ b/docs/en/flight_modes_fw/return.md
@@ -4,6 +4,11 @@
The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land.
+This topic describes the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type that FW vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
Fixed-wing vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default, and are expected to always have a mission with a landing pattern.
With this configuration, return mode causes the vehicle to ascend to a minimum safe altitude above obstructions (if needed), fly to the start of the landing pattern defined in the mission plan, and then follow it to land.
diff --git a/docs/en/flight_modes_mc/return.md b/docs/en/flight_modes_mc/return.md
index c3b45ccb59..f975a3f509 100644
--- a/docs/en/flight_modes_mc/return.md
+++ b/docs/en/flight_modes_mc/return.md
@@ -4,6 +4,11 @@
The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it can land.
+This topic describes the [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) return type that MC vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
Multicopters use a [home/rally point return type](../flight_modes/return.md#home-rally-point-return-type-rtl-type-0) by default.
In this return type vehicles ascend to a safe altitude above obstructions if needed, fly directly to the closest safe landing point (a rally point or the home position), descend to the "descent altitude", wait briefly, and then land.
The return altitude, descent altitude, and landing delay are normally set to conservative "safe" values, but can be changed if needed.
diff --git a/docs/en/flight_modes_vtol/return.md b/docs/en/flight_modes_vtol/return.md
index 46ec8ec1e4..1341b92c22 100644
--- a/docs/en/flight_modes_vtol/return.md
+++ b/docs/en/flight_modes_vtol/return.md
@@ -4,6 +4,11 @@
The _Return_ flight mode is used to _fly a vehicle to safety_ on an unobstructed path to a safe destination, where it may either wait (hover or circle) or land.
+This topic describes the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type that VTOL vehicles use by default.
+See the [Return Mode (Generic Vehicle)](../flight_modes/return.md#return-types-rtl-type) for an overview of the other supported types.
+
+## Overview
+
VTOL vehicles use the [Mission Landing/Rally Point](../flight_modes/return.md#mission-landing-rally-point-return-type-rtl-type-1) return type by default.
In this return type a vehicle ascends to a minimum safe altitude above obstructions (if needed), and then flies directly to a rally point or the start of a mission landing point (whichever is nearest), or the home position if neither rally points or mission landing pattern is defined.
If the destination is a mission landing pattern, the vehicle will then follow the pattern to land.