Hi,
Wish to share a request/suggestion:

The RTH path is a straight line from Initiating point to the Home. How about having an option to use waypoints/path of this very flight for RTH (Waypoint flying in reverese)?

In case we are flying around high structures/landmarks and RTH triggeres and lets say the hieght is not set high enough or we are passing under a structure; the Phantom/Inspire might hit something on the way back. But if the RTH has an option of using recorded Waypoints/Altitude info to get to home position, the probable collosion can be avoided. Instead of moving in straight line Phantom/Inspire will be following the path it flew till the RTH initiation point, and flies back to Home point using same path & altitude/s.

Exactly my thoughts, would love to have this feature for areas you suggested. I also read somewhere that some SDK developer is trying to implement this in an app.
Usman Hayat