In RTL mode the plane will return to launch point (the point where the plane first got a GPS lock) and loiter there until manual control is regained (or it runs out of fuel!). As with AUTO mode you can also “nudge” the aircraft manually in this mode using stick mixing. The target altitude for RTL mode is set using the ALT_HOLD_RTL parameter in centimeters.
Alternatively, you may configure the plane to return to a Rally Point, rather than the launch point.
Warning: “Home” position is always supposed to be your Planes actual GPS takeoff location
It is very important to acquire GPS lock before arming in order for RTL, Loiter, Auto or any GPS dependent mode to work properly.
For APM:Plane the home position is the postion of the Plane when you first get GPS lock whether it was armed or not.
This means if you execute an RTL in APM:Plane, it will return to the location where it was when it first acquired GPS lock.
For APM:Plane: Plug in the battery and let it acquire GPS lock where you want it to return to: (Not the Pits).