# RtlStatus (UORB message)

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg)

```c
uint64 timestamp                      # time since system start (microseconds)

uint32 safe_points_id 		      # unique ID of active set of safe_point_items
bool is_evaluation_pending 	      # flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading).

bool has_vtol_approach 		      # flag if approaches are defined for current RTL_TYPE parameter setting

uint8 rtl_type	      		      # Type of RTL chosen
uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode

uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 	# going straight to the beginning of the mission landing
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 		# Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 	# Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.

```