Why don't you develop a simple feature in which the cell phone's geolocation is used for tracking? It will be a simpler and more reliable way for tracking than the optical one, which is constantly lost.
You already have all the infrastructure in place (the ability to send an updated home location for RTH) and its just adding some code for that functionality.
Looks like my first comment didn't post. I completely agree with the above. This is the sole reason why I'm advising everyone else to go to skydio instead.
I have done it with a second phone as a tracking device, as I can't take the RC in the water :-)
There's a lot to improve, but it's an example what can be done.
It works really well. This is from one of my first testflight.
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