# About Return Mode

**URL:** <https://discuss.px4.io/t/about-return-mode/14176>\
**Category:** PX4 Autopilot\
**Created:** [December 4, 2019, 1:08am UTC](https://discuss.px4.io/t/about-return-mode/14176 "2019-12-04T01:08:17Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![netgittemp](https://discuss.px4.io/letter_avatar_proxy/v4/letter/n/3bc359/32.png) [@netgittemp](https://discuss.px4.io/u/netgittemp)\
**Post date:** [December 4, 2019, 1:08am UTC](https://discuss.px4.io/t/about-return-mode/14176/1 "2019-12-04T01:08:17Z")

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In [Return Mode](https://docs.px4.io/v1.9.0/en/flight_modes/return.html) page, it is described that the quadrotor goes up to [RTL\_RETURN\_ALT](https://docs.px4.io/v1.9.0/en/advanced_config/parameter_reference.html#RTL_RETURN_ALT) and move to the home position, then the quadrotor descend to the [RTL\_DESCEND\_ALT](https://docs.px4.io/v1.9.0/en/flight_modes/return.html#RTL_DESCEND_ALT). When the quadrotor reach to [RTL\_DESCEND\_ALT](https://docs.px4.io/v1.9.0/en/flight_modes/return.html#RTL_DESCEND_ALT), it will hold the position for [RTL\_LAND\_DELAY](https://docs.px4.io/v1.9.0/en/flight_modes/return.html#RTL_LAND_DELAY) before landing.

However, I simulated it in gazebo (`$ sudo make px4_sitl gazebo`). It is not correct!  
The quadrotor goes up to [RTL\_DESCEND\_ALT](https://docs.px4.io/v1.9.0/en/flight_modes/return.html#RTL_DESCEND_ALT) and move to the home position. Then it hovers for [RTL\_LAND\_DELAY](https://docs.px4.io/v1.9.0/en/flight_modes/return.html#RTL_LAND_DELAY) and land.

For your information, I set the RTL\_\* parameters as shown in the following figure;

![param](https://discuss.px4.io/uploads/default/original/2X/c/c442a93118e28479cf27a078f5d4b90f09dbb396.png)

Did I do something wrong?  
Please check this it for me.

Thank you in advance.

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**Author:** ![researcher03](https://discuss.px4.io/letter_avatar_proxy/v4/letter/r/3da27b/32.png) [@researcher03](https://discuss.px4.io/u/researcher03)\
**Post date:** [December 9, 2019, 6:19am UTC](https://discuss.px4.io/t/about-return-mode/14176/2 "2019-12-09T06:19:45Z")

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Checkout the v1.10 RC. That worked for me