Side view of a site. The home pad and the pilot are on the left, a few people stand further left, and a 40 m tree line stands between the pad and a work area on the right. A dashed line marks the normal 120 m height limit. The drone is working low beyond the trees when the command link is lost, and return to home (RTH) starts: the aircraft climbs to the set RTH height, flies straight back to its recorded home point and lands. Heights are above take-off. With RTH set to 60 m, the RePL Guide example (highest obstacle 40 m plus at least 20 m), it clears the trees by 20 m and lands on the pad. At 30 m it flies into the trees. At 150 m it climbs above the 120 m limit. If the home point was not updated and is still recorded among the people, the aircraft flies back and lands among them. This is a typical RTH sequence; the actual behaviour varies by aircraft and settings. Not to scale.
