Flight Modes Return To Launch

This simply returns the aircraft to you (your launch position) and circles overhead. Technically, RTL is a macro that sets home as the next waypoint and enables Loiter mode.

You can also "nudge" the aircraft manually in this mode. Throttle "nudging" occurs if the throttle stick is in the top 1/2 of the range and moves the airspeed or throttle setpoint up towards the upper limit proportional to the stick's position in the top 1/2 of the range. Normally you should have the throttle stick in the lower 1/2 of its range when using any "auto" mode.