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Thanks for the reply. I just had read all of that thread, but not sure how it applies to RTH (seems to only be about making flightplans). Is there a reason your answer was a bit coy? I'm not trying to break any rules/laws, I just want the ability for the bebop to come home at 100m rather than the default 20m. There are trees around us that are above 30m, so I can't trust the RTH feature at the moment unfortunately.